Related Manuals for Mitsubishi Melsec-Q QD75D4
Summarization of Contents
SAFETY INSTRUCTIONS
[Design Instructions]
Instructions related to designing the safety circuits and configurations for the programmable logic controller system.
INTRODUCTION
Section 1 Product Specifications and Handling
Covers product outlines, positioning control, system operation flow, and restrictions.
1.1 Positioning control
Explains the features of QD75, purpose and applications, mechanism, design, and communication signals.
1.1.1 Features of QD75
Describes the availability of QD75 modules, their I/O requirements, and the wide variety of positioning control functions supported.
1.1.2 Purpose and applications of positioning control
Explains the concept of positioning and provides application examples like punch presses, palletizers, and compact machining centers.
1.1.3 Mechanism of positioning control
Details how positioning control works using QD75, including the roles of GX Developer, PLC CPU, QD75 module, servo amplifier, and motor.
1.1.4 Outline design of positioning system
Illustrates the system design and operation for positioning using QD75, including positioning operation and pulse train output.
1.1.5 Communicating signals between QD75 and each module
Outlines the signal communication between QD75, PLC CPU, peripheral device, and drive unit, showing signal directions and names.
1.2 Flow of system operation
Presents the overall process flow of a system operation, including design, preparation, operation, and maintenance.
1.2.1 Flow of all processes
Details the work carried out for positioning control, referencing specific chapters for each process.
1.2.2 Outline of starting
Shows the flowchart for starting each control type (major positioning, high-level positioning, OPR, manual control), detailing preparation and signal settings.
1.2.3 Outline of stopping
Explains the cases for stopping each control and provides a table outlining the stop process based on stop causes.
1.2.4 Outline for restarting
Describes how to restart positioning control after a stop, using the "Cd.6 Restart command" and providing examples.
1.3 Restrictions with a system using a stepping motor
Lists restrictions when using a stepping motor with the QD75, such as S-pattern acceleration/deceleration and circular interpolation.
1.4 Function additions/modifications according to function version B
Details new functions and modifications introduced in function version B, including compatible software and serial number checking.
Chapter 2 System Configuration
2.1 General image of system
Provides a system overview showing the QD75, PLC CPU, I/O modules, and external connections.
2.2 Component list
Lists the components required for a positioning system using the QD75, including specifications for the recommended manual pulse generator.
2.3 Applicable system
Details the usable CPU modules, base units, and compatibility with software packages for the QD75.
2.4 How to check the function version and SERIAL No.
Explains methods to check the function version and serial number using the module's rated plate or software.
Chapter 3 Specifications and Functions
3.1 Performance specifications
Lists performance specifications for QD75 modules, including axes, interpolation, control systems, units, and speed commands.
3.2 List of functions
Categorizes QD75 functions into main, sub, and common functions, with references for further details.
3.2.1 QD75 control functions
Explains the main functions of the QD75: OPR control, Major positioning control, High-level positioning control, and Manual control.
3.2.2 QD75 main functions
Details the main functions of the QD75, including OPR control, Major positioning control, High-level positioning control, and Manual control.
3.2.3 QD75 sub functions and common functions
Explains sub functions that assist positioning control, such as compensation, limit functions, and other functions. Also covers common functions like parameter initialization and data backup.
3.2.4 Combination of QD75 main functions and sub functions
Lists combinations of QD75 main functions and sub functions, indicating compatibility with operation patterns and references.
3.3 Specifications of input/output signals with PLC CPU
Details the input/output signals exchanged between the QD75 and the PLC CPU, including signal names and device numbers.
3.3.1 List of input/output signals with PLC CPU
Lists the input/output signals exchanged between the QD75 and the PLC CPU, including signal names and device numbers.
3.3.2 Details of input signals (QD75 -> PLC CPU)
Explains the ON/OFF timing and conditions of input signals from QD75 to PLC CPU, including QD75 READY, synchronization flag, M code ON, error detection, BUSY, and start/complete signals.
3.3.3 Detail of output signals (PLC CPU -> QD75)
Details the ON/OFF timing and conditions of output signals from PLC CPU to QD75, including PLC READY, axis stop, JOG start, positioning start, and execution prohibition flags.
3.4 Specifications of input/output interfaces with external devices
Covers electrical specifications of input/output signals, signal layouts, and internal circuits for external device connections.
3.4.1 Electrical specifications of input/output signals
Details the electrical specifications of various input signals like Drive unit READY, Stop signal, Zero signal, Manual pulse generator, and Near-point dog signal.
3.4.2 Signal layout for external device connection connector
Shows the signal layout for the QD75 external device connection connectors (40-pin) for different module types (QD75P1/2/4, QD75D1/2/4).
3.4.3 List of input/output signal details
Lists the details of input/output signals for each axis, including pulse output, upper/lower limit signals, and near-point dog signals.
3.4.4 Input/output interface internal circuit
Shows the internal circuits for the QD75P1/QD75D1 external device connection interface, illustrating input and output connections.
Chapter 4 Installation, Wiring and Maintenance of the Product
4.1 Outline of installation, wiring and maintenance
Provides an overview of installation, wiring, and maintenance procedures, including names of parts and handling precautions.
4.1.1 Installation, wiring and maintenance procedures
Details the step-by-step procedures for installing, wiring, and maintaining the QD75, including preparation and servicing.
4.1.2 Names of each part
Identifies and describes the main parts of the QD75 module, including indicator LEDs, axis display LEDs, external device connectors, and differential driver common terminals.
4.1.3 Handling precautions
Provides essential handling precautions to prevent module malfunctioning, injuries, or fires, emphasizing environmental specifications and avoiding contact with internal parts.
4.2 Installation
Details precautions for installation, including electrical safety and proper module mounting.
4.2.1 Precautions for installation
Lists safety precautions for installation, including power disconnection and handling of module components.
4.3 Wiring
Outlines wiring precautions, including terminal layout confirmation, soldering, cable bundling, and grounding.
4.3.1 Precautions for wiring
Provides detailed wiring precautions, covering terminal layout, soldering, foreign matter prevention, secure mounting, cable handling, and shielding.
4.3.2 Wiring of the differential driver common terminal
Explains how to wire the differential driver common terminal, addressing potential potential differences and providing wiring examples.
4.4 Confirming the installation and wiring
Lists items to confirm after installation and wiring, including connection confirmation using GX Configurator-QP.
4.4.1 Items to confirm when installation and wiring are completed
Details checks for correct wiring, connection confirmation with servo amplifier, and recognition of external I/O signals.
4.5 Maintenance
Covers precautions for servicing the QD75 and disposal instructions.
4.5.1 Precautions for maintenance
Provides safety precautions for maintenance, including power disconnection and avoiding disassembly.
4.5.2 Disposal instructions
Instructs to handle the product as industrial waste when disposing of it.
Chapter 5 Data Used for Positioning Control
5.1 Types of data
Details the types of data used for control, including parameters, positioning data, block start data, condition data, monitor data, and control data.
5.1.1 Parameters and data required for control
Outlines the parameters and data required for control, categorized by setting data, OPR parameters, positioning data, block start data, condition data, and memo data.
5.1.2 Setting items for positioning parameters
Lists setting items for positioning parameters, covering basic and detailed parameters for various controls.
5.1.3 Setting items for OPR parameters
Details setting items for OPR parameters, including OPR methods, direction, address, speed, and retry functions.
5.1.4 Setting items for positioning data
Lists setting items for positioning data, covering operation patterns, control systems, and specific data like acceleration/deceleration times and addresses.
5.1.5 Setting items for block start data
Outlines setting items for block start data, used in high-level positioning control, including shape, start data No., and parameters.
5.1.6 Setting items for condition data
Lists setting items for condition data, used for high-level positioning control and JUMP instructions, including target, operator, address, and parameters.
5.1.7 Types and roles of monitor data
Explains the types and roles of monitor data, covering system monitoring and axis operation monitoring.
5.1.8 Types and roles of control data
Details the types and roles of control data, covering system control data and axis control data.
5.2 List of parameters
Lists various parameters, categorized into basic, detailed, and OPR parameters, with buffer memory addresses.
5.2.1 Basic parameters 1
Lists and describes basic parameters 1, including unit setting, number of pulses per rotation, movement amount per rotation, and unit magnification.
5.2.2 Basic parameters 2
Lists and describes basic parameters 2, including speed limit value, JOG operation acceleration/deceleration time selection, and S-pattern proportion.
5.2.3 Detailed parameters 1
Details parameters related to backlash compensation, software stroke limits, torque limits, and M code ON signal output timing.
5.2.4 Detailed parameters 2
Lists and describes detailed parameters 2, including acceleration/deceleration time settings, JOG operation settings, and sudden stop selections.
5.2.5 OPR basic parameters
Lists and describes basic OPR parameters, including OPR method, direction, address, speed, creep speed, OPR retry, dwell time, and movement amount settings.
5.2.6 OPR detailed parameters
Details OPR parameters such as dwell time, movement amount after near-point dog ON, acceleration/deceleration time selection, OP shift amount, torque limit, and speed designation.
5.3 List of positioning data
Details the structure of positioning data stored in QD75 buffer memory, showing items like positioning identifier, control system, acceleration/deceleration time, and M code.
5.4 List of block start data
Organizes block start data stored in QD75 buffer memory, showing items like shape, start data No., special start instruction, and parameter.
5.5 List of condition data
Organizes condition data stored in QD75 buffer memory, showing items like condition target, operator, address, parameter 1, and parameter 2.
5.6 List of monitor data
Explains types and roles of monitor data, including system monitoring and axis operation monitoring.
5.7 List of control data
Details types and roles of control data, covering system control data and axis control data.
Chapter 6 Sequence Program Used for Positioning Control
6.1 Precautions for creating program
General precautions for creating programs, including data reading/writing, speed change intervals, and overrun prevention.
6.2 List of devices used
Lists the devices used in sequence programs for QD75, including inputs/outputs, external inputs/outputs, and internal relays.
6.3 Creating a program
Details the process of creating a positioning control operation program, including general configuration and specific program types.
6.3.1 General configuration of program
Shows the general configuration of the positioning control operation program, including initialization, start details, JOG, inching, manual pulse generator, sub, and stop programs.
6.3.2 Positioning control operation program
Explains the various programs that configure the positioning control operation program, referencing relevant sections for details.
6.4 Positioning program examples
Provides examples of positioning programs for different control types, such as parameter setting and block start data setting.
6.5 Program details
Explains program details for initialization, start settings, JOG, inching, manual pulse generator, sub programs, and stop programs.
6.5.1 Initialization program
Details the OPR request OFF program and external command function valid setting program.
6.5.2 Start details setting program
Explains how to set the positioning start No. and starting point No. for various controls, and details for speed-position switching control.
6.5.3 Start program
Describes how to start the control using start commands, either via positioning start signal or external command signal.
6.5.4 Continuous operation interrupt program
Explains how to interrupt continuous positioning or continuous path control using the continuous operation interrupt function.
6.5.5 Restart program
Explains how to restart positioning control after a stop using the restart command (Cd.6), and lists restrictions.
6.5.6 Stop program
Explains how to stop control using axis stop signals or external stop signals, and details the stop process based on stop causes.
Chapter 7 Memory Configuration and Data Process
7.1 Configuration and roles of QD75 memory
Details the configuration and roles of QD75 memory, including buffer memory and flash ROM areas and their accessibility.
7.1.1 Configuration and roles of QD75 memory
Describes the two types of memory (Buffer memory, Flash ROM) and their area configurations for parameters, monitor data, etc.
7.1.2 Buffer memory area configuration
Provides a detailed layout of the buffer memory areas for QD75, showing address ranges for parameters, positioning data, block start data, etc.
7.2 Data transmission process
Explains the data transmission process between QD75 memories and between QD75, PLC CPU, and peripheral devices.
Chapter 8 OPR Control
8.1 Outline of OPR control
Explains the outline of OPR control, types of OPR control, machine OPR methods, and fast OPR.
8.2 Machine OPR
Explains the operation of machine OPR, including establishing the machine OP and methods for starting.
8.2.2 Machine OPR method
Explains the six methods for machine OPR: Near-point dog, Stopper methods (1, 2, 3), and Count methods (1, 2).
8.2.3 OPR method (1): Near-point dog method
Details the operation outline and chart for the Near-point dog method of machine OPR.
8.2.4 OPR method (2): Stopper method 1)
Details the operation outline and chart for the Stopper method 1) of machine OPR.
8.2.5 OPR method (3): Stopper method 2)
Details the operation outline and chart for the Stopper method 2) of machine OPR.
8.2.6 OPR method (4): Stopper method 3)
Details the operation outline and chart for the Stopper method 3) of machine OPR.
8.2.7 OPR method (5): Count method 1)
Details the operation outline and chart for the Count method 1) of machine OPR.
8.2.8 OPR method (6): Count method 2)
Details the operation outline and chart for the Count method 2) of machine OPR.
8.3 Fast OPR
Explains the outline of fast OPR operation, including the process and timing.
Chapter 9 Major Positioning Control
9.1 Outline of major positioning controls
Provides an overview of major positioning controls, including data requirements, operation patterns, address designation, and control system details.
9.1.1 Data required for major positioning control
Lists the data required for major positioning controls, covering operation pattern, control system, acceleration/deceleration times, and axis interpolation.
9.1.2 Operation patterns of major positioning controls
Explains the operation patterns for major positioning controls, including independent, continuous, and continuous path controls with examples.
9.1.3 Designating the positioning address
Describes the two methods for commanding position in control using positioning data: Absolute system and Incremental system.
9.1.4 Confirming the current value
Explains how to confirm the current value using "current feed value" (Md.20) and "machine feed value" (Md.21), including their addresses and update timings.
9.1.5 Control unit "degree" handling
Details how to handle the control unit when set to "degree", including differences in current feed value, machine feed value addresses, and software stroke limit settings.
9.1.6 Interpolation control
Explains the meaning of interpolation control, its reference and interpolation axis combinations, and limits to interpolation control.
9.2 Setting the positioning data
Details the relationship between various controls and positioning data, providing setting examples for different control types.
9.2.1 Relation between each control and positioning data
Shows the relationship between major positioning controls and their corresponding positioning data items.
9.2.2 1-axis linear control
Explains 1-axis linear control (ABS and INC modes), including operation charts and positioning data setting examples.
9.2.3 2-axis linear interpolation control
Explains 2-axis linear interpolation control (ABS and INC modes), detailing operation charts and positioning data setting examples.
9.2.4 3-axis linear interpolation control
Explains 3-axis linear interpolation control (ABS and INC modes), detailing operation charts and positioning data setting examples.
9.2.5 4-axis linear interpolation control
Explains 4-axis linear interpolation control (ABS and INC modes), detailing operation charts and positioning data setting examples.
9.2.6 1-axis fixed-feed control
Explains 1-axis fixed-feed control, its operation chart, restrictions, and positioning data setting example.
9.2.7 2-axis fixed-feed control (interpolation)
Explains 2-axis fixed-feed control (interpolation), its operation chart, restrictions, and positioning data setting example.
9.2.8 3-axis fixed-feed control (interpolation)
Explains 3-axis fixed-feed control (interpolation), its operation chart, and restrictions.
9.2.9 4-axis fixed-feed control (interpolation)
Explains 4-axis fixed-feed control (interpolation), its operation chart, and restrictions.
9.2.10 2-axis circular interpolation control with sub point designation
Explains 2-axis circular interpolation control with sub point designation (ABS and INC modes), including operation charts and restrictions.
9.2.11 2-axis circular interpolation control with center point designation
Explains 2-axis circular interpolation control with center point designation (ABS and INC modes), including operation charts and restrictions.
9.2.12 1-axis speed control
Explains 1-axis speed control, its operation chart, current feed value during speed control, and restrictions.
9.2.13 2-axis speed control
Explains 2-axis speed control, its operation chart, current feed value during speed control, and restrictions.
9.2.14 3-axis speed control
Explains 3-axis speed control, its operation chart, current feed value during speed control, and restrictions.
9.2.15 4-axis speed control
Explains 4-axis speed control, its operation chart, current feed value during speed control, and restrictions.
9.2.16 Speed-position switching control (INC mode)
Explains speed-position switching control in INC mode, including signal setting and switching over from speed control to position control.
9.2.17 Speed-position switching control (ABS mode)
Explains speed-position switching control in ABS mode, including signal setting and switching over from speed control to position control.
9.2.18 Position-speed switching control
Explains position-speed switching control, covering switching over from position control to speed control and changing speed command.
9.2.19 Current value changing
Explains how to change the current value using positioning data or start No. (9003), including operation charts and restrictions.
9.2.20 NOP instruction
Explains the NOP instruction used for nonexecutable control system, including operation, positioning data setting examples, and restrictions.
9.2.21 JUMP instruction
Explains the JUMP instruction used to control operation by jumping to a positioning data No. set in positioning data, including unconditional and conditional JUMP.
9.2.22 LOOP
Explains the LOOP instruction used for loop control by repetition of LOOP to LEND, including operation, setting examples, and restrictions.
9.2.23 LEND
Explains the LEND instruction used to return operation to the top of the repeat (LOOP to LEND) loop.
Chapter 10 High-level Positioning Control
10.1 Outline of high-level positioning control
Explains the details and usage of high-level positioning control, which uses "block start data" and "condition data" for applied control.
10.1.1 Data required for high-level positioning control
Lists the data required for high-level positioning control, including block start data and condition data.
10.1.2 " Block start data" and "condition data" configuration
Explains the configuration of "block start data" and "condition data" corresponding to block No. 7000.
10.2 High-level positioning control execution procedure
Details the procedure for executing high-level positioning control, covering preparation, starting, monitoring, and stopping the control.
10.3 Setting the block start data
Explains the relation between various controls and block start data, including setting examples for block start (normal start), condition start, wait start, simultaneous start, and repeated starts.
10.3.2 Block start (normal start)
Explains how block start (normal start) continuously executes positioning data groups in a set sequence starting from a specified start data No.
10.3.3 Condition start
Explains condition start where conditional judgment is performed on positioning data using condition data, executing block start data if conditions are met.
10.3.4 Wait start
Explains wait start where control stops until conditions are established, based on conditional judgment of condition data.
10.3.5 Simultaneous start
Explains simultaneous start where positioning data is executed simultaneously for multiple axes.
10.3.6 Repeated start (FOR loop)
Explains repeated start (FOR loop) where data between block start instructions is repeated for a specified number of times.
10.3.7 Repeated start (FOR condition)
Explains repeated start (FOR condition) where data between block start instructions is repeated until conditions set in condition data are established.
10.3.8 Restrictions when using the NEXT start
Details restrictions when using the NEXT start instruction, including nesting limitations and processing examples.
10.4 Setting the condition data
Explains the relation between various controls and condition data, and provides setting examples for condition target, operator, address, and parameters.
10.5 Multiple axes simultaneous start control
Explains multiple axes simultaneous start control, including control details, restrictions, and setting methods.
10.6 Start program for high-level positioning control
Explains how to create a start program for high-level positioning control, including procedures and examples.
10.6.1 Starting high-level positioning control
Describes the procedure for starting high-level positioning control, involving setting block start data and turning ON the positioning start signal.
10.6.2 Example of a start program for high-level positioning control
Provides an example of a start program for high-level positioning control, detailing control data settings and required start conditions.
Chapter 11 Manual Control
11.1 Outline of manual control
Explains manual control methods: JOG operation, inching operation, and manual pulse generator operation.
11.2 JOG operation
Explains JOG operation, including its outline, execution procedure, required parameters, program creation, and examples.
11.2.1 Outline of JOG operation
Describes the outline of JOG operation, emphasizing the use of hardware stroke limit function and the operation when START signal turns ON.
11.2.2 JOG operation execution procedure
Details the step-by-step procedure for executing JOG operation, including setting parameters, writing sequence programs, and monitoring operation status.
11.2.3 Setting the required parameters for JOG operation
Lists the required parameters for JOG operation, including unit setting, pulses per rotation, movement amount, and speed limits.
11.2.4 Creating start programs for JOG operation
Explains how to create start programs for JOG operation, considering required control data, start conditions, and time charts.
11.2.5 JOG operation example
Provides an example of JOG operation, illustrating behavior when the stop signal is turned ON or when JOG start signal is turned ON during deceleration or test mode.
11.3 Inching operation
Explains inching operation, including its outline, execution procedure, parameter settings, program creation, and examples.
11.3.1 Outline of inching operation
Describes the outline of inching operation, emphasizing the use of hardware stroke limit function and movement amount settings.
11.3.2 Inching operation execution procedure
Details the step-by-step procedure for executing inching operation, including setting parameters, writing sequence programs, and monitoring operation status.
11.3.3 Setting the required parameters for inching operation
Lists the required parameters for inching operation, including unit setting, pulses per rotation, and software stroke limits.
11.3.4 Creating a program to enable/disable the inching operation
Explains how to create a sequence program to enable or disable inching operation, considering required control data and start conditions.
11.3.5 Inching operation example
Provides an example of inching operation, illustrating behavior when the stop signal is turned ON.
11.4 Manual pulse generator operation
Explains manual pulse generator operation, including its outline, execution procedure, parameter settings, and program creation.
11.4.1 Outline of manual pulse generator operation
Describes the outline of manual pulse generator operation, emphasizing the use of Cd.21 Manual pulse generator enable flag.
11.4.2 Manual pulse generator operation execution procedure
Details the step-by-step procedure for executing manual pulse generator operation, including setting parameters, writing sequence programs, and monitoring operation status.
11.4.3 Setting the required parameters for manual pulse generator operation
Lists the required parameters for manual pulse generator operation, including unit setting, pulses per rotation, and torque limit setting.
11.4.4 Creating a program to enable/disable the manual pulse generator operation
Explains how to create a sequence program to enable or disable manual pulse generator operation, considering required control data and start conditions.
Chapter 12 Control Sub Functions
12.1 Outline of sub functions
Explains the types of sub functions available, such as those for compensating, limiting, adding functions, etc., to the control.
12.2 Sub functions specifically for machine OPR
Details sub functions specific to machine OPR, including OPR retry function and OP shift function.
12.2.1 OPR retry function
Explains the OPR retry function, which allows machine OPR to be carried out regardless of workpiece position.
12.2.2 OP shift function
Explains the OP shift function, which allows offsetting the position based on machine OPR results.
12.3 Functions for compensating the control
Details sub functions for compensating control, including backlash compensation, electronic gear function, and near pass function.
12.3.1 Backlash compensation function
Explains the backlash compensation function, which compensates for mechanical backlash by outputting extra pulses.
12.3.2 Electronic gear function
Explains the electronic gear function, which adjusts pulses based on parameters to change machine movement amount per commanded pulse.
12.3.3 Near pass function
Explains the near pass function, which suppresses mechanical vibration during continuous path control by smoothly switching positioning data.
12.4 Functions to limit the control
Details functions to limit control, including speed limit, torque limit, software stroke limit, and hardware stroke limit functions.
12.4.1 Speed limit function
Explains the speed limit function, which limits command speed when it exceeds the set speed limit value.
12.4.2 Torque limit function
Explains the torque limit function, which limits generated torque to a value within the setting range.
12.4.3 Software stroke limit function
Explains the software stroke limit function, which sets upper and lower limits for the movable range of the workpiece.
12.4.4 Hardware stroke limit function
Explains the hardware stroke limit function, which uses limit switches to stop control by deceleration stop.
12.5 Functions to change the control details
Details functions to change control details, including speed change, override, acceleration/deceleration time change, and torque change functions.
12.5.1 Speed change function
Explains the speed change function, used to change speed during control to a newly designated speed.
12.5.2 Override function
Explains the override function, which changes command speed by a designated percentage for all controls.
12.5.3 Acceleration/deceleration time change function
Explains the acceleration/deceleration time change function, used to change acceleration/deceleration time during speed change.
12.5.4 Torque change function
Explains the torque change function, used to change the torque limit value during torque limiting.
12.6 Absolute position restoration function
Explains the absolute position restoration function, used to restore the absolute position of a designated axis.
12.7 Other functions
Lists other functions such as step function, skip function, M code output, teaching, target position change, command in-position, acceleration/deceleration processing, pre-reading start, deceleration start flag, and stop command processing.
12.7.1 Step function
Explains the step function, used to confirm each operation of positioning control one by one for debugging.
12.7.2 Skip function
Explains the skip function, used to stop positioning execution and execute the next positioning data when a skip signal is input.
12.7.3 M code output function
Explains the M code output function, used to command sub work related to positioning data being executed.
12.7.4 Teaching function
Explains the teaching function, used to set addresses aligned using manual control into positioning data.
12.7.5 Target position change function
Explains the target position change function, used to change target position and command speed during position control.
12.7.6 Command in-position function
Explains the command in-position function, which checks the remaining distance to the stop position during automatic deceleration and raises a flag.
12.7.7 Acceleration/deceleration processing function
Explains the acceleration/deceleration processing function, which adjusts acceleration/deceleration when each control is executed.
12.7.8 Pre-reading start function
Explains the pre-reading start function, which shortens the virtual start time by analyzing next positioning data during stop time.
12.7.9 Deceleration start flag function
Explains the deceleration start flag function, which turns ON a flag when constant speed or acceleration status switches to deceleration status.
12.7.10 Stop command processing for deceleration stop function
Explains the stop command processing for deceleration stop function, provided to set the deceleration curve if a stop cause occurs during deceleration.
Chapter 13 Common Functions
13.1 Outline of common functions
Explains common functions executed according to user requirements, regardless of control system, such as parameter initialization and execution data backup.
13.2 Parameter initialization function
Explains the parameter initialization function, used to return setting data to factory-set initial values.
13.3 Execution data backup function
Explains the execution data backup function, which backs up executed data to flash ROM.
13.4 External I/O signal logic switching function
Explains the external I/O signal logic switching function, which switches signal logic according to external equipment connected to QD75.
13.5 External I/O signal monitor function
Explains the external I/O signal monitor function, which monitors module information and external I/O signals.
Chapter 14 Dedicated instructions
14.1 List of dedicated instructions
Lists dedicated instructions used to facilitate programming for the QD75 functions.
14.2 Interlock during dedicated instruction is executed
Explains interlocks during the execution of dedicated instructions like ABRST, PSTRT, and TEACH.
14.3 ABRST1, ABRST2, ABRST3, ABRST4
Explains the dedicated instructions used to restore the absolute position of the designated axis.
14.4 PSTRT1, PSTRT2, PSTRT3, PSTRT4
Explains the dedicated instructions used to start the positioning of the designated axis.
14.5 TEACH1, TEACH2, TEACH3, TEACH4
Explains the dedicated instructions used to teach the designated axis.
14.6 PFWRT
Explains the dedicated instruction used to write QD75 parameters, positioning data, and block start data to the flash ROM.
14.7 PINIT
Explains the dedicated instruction used to initialize the setting data of the QD75.
Chapter 15 Troubleshooting
15.1 Error and warning details
Details various errors and warnings detected by the QD75, including parameter setting errors and operation errors.
15.2 List of errors
Provides a list of error codes, names, errors, and operation status at error occurrence, with remedies.
15.3 List of warnings
Lists warning codes, names, warnings, and operation status at warning occurrence, categorized into system and axis warnings.
15.4 LED display functions
Explains the operation statuses indicated by the LEDs on the QD75 and its axes.
Appendices
Appendix 1 Version up of the functions
Lists version upgrades and function comparisons.
Appendix 1.1 Comparison of functions according to function versions
Compares functions across different versions of QD75 positioning modules.
Appendix 2 Format sheets
Provides format sheets for positioning module operation charts and parameter/data setting entry tables.
Appendix 2.1 Positioning Module operation chart
Shows operation charts for the positioning module.
Appendix 2.2 Parameter setting value entry table
Provides tables for entering parameter setting values.
Appendix 2.3 Positioning data setting value entry table
Provides tables for entering positioning data setting values.
Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses
Lists buffer memory addresses for positioning data from No. 1 to 600 for each axis.
Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
Provides connection examples with MITSUBISHI servo amplifiers for QD75D and MR-H, MR-J2/J2S, MR-C.
Appendix 4.1 Connection example of QD75D and MR-H A (Differential driver)
Details the connection example of QD75D with MR-H A (Differential driver).
Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A (Differential driver)
Details the connection example of QD75D with MR-J2/J2S- A (Differential driver).
Appendix 4.3 Connection example of QD75D and MR-C A (Differential driver)
Details the connection example of QD75D with MR-C A (Differential driver).
Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.
Provides connection examples with ORIENTALMOTOR stepping motors for QD75P and VEXTA UPD.
Appendix 5.1 Connection example of QD75P and VEXTA UPD (Open collector)
Details the connection example of QD75P with VEXTA UPD (Open collector).
Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co., Ltd.
Provides connection examples with Matsushita Electric servo amplifiers.
Appendix 6.1 Connection example of QD75D and MINAS-A series (Differential driver)
Details the connection example of QD75D with MINAS-A series (Differential driver).
Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.
Provides connection examples with SANYO DENKI servo amplifiers.
Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation
Provides connection examples with YASKAWA Electric servo amplifiers.
Appendix 9 Comparisons with conventional positioning modules
Compares QD75 with conventional positioning modules.
Appendix 9.1 Comparisons with A1SD71S2 model
Compares QD75 with A1SD71S2 model.
Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3 models
Compares QD75P1-S3, QD75P2-S3, QD75P3-S3 with A1SD75 models.
Appendix 10 MELSEC Explanation of positioning terms
Explains positioning terms used in MELSEC.
Appendix 11 Positioning control troubleshooting
Provides troubleshooting guidance for positioning control.
Appendix 12 List of buffer memory addresses
Lists buffer memory addresses for various QD75 functions and parameters.
Appendix 13 External dimension drawing
Shows external dimensions of the QD75 positioning module.
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