Table of Contents
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Table of Contents
Related Manuals for Mitsubishi Melsec-Q QD75D4
Summarization of Contents
Safety Precautions
Design Precautions
Guidelines for designing circuits and systems to ensure safe operation of the programmable controller and prevent mechanical damage.
Mounting Precautions
Precautions for correctly mounting the programmable controller in the base unit, including handling of installation levers and securing with screws.
Wiring Precautions
Precautions for wiring, including using specified terminals, tightening screws, and preventing foreign matter entry.
Startup/Maintenance Precautions
Precautions for startup and maintenance, including turning off power, avoiding disassembly, and handling static electricity.
Precautions for use
Notes on using the reference axis speed for interpolation operation and handling the product as industrial waste when disposing.
Disposal Precautions
Handle the product as industrial waste when disposing of it.
Part 1 Product Specifications and Handling
Chapter 1 Product Outline
Explains the purpose and outline of positioning control using QD75, including features and system operation.
Chapter 2 System Configuration
Explains the general system configuration, applicable CPUs, and precautions for configuring the positioning control system.
Chapter 3 Specifications and Functions
Details the performance specifications, functions, and input/output specifications of the QD75.
Chapter 4 Installation, Wiring and Maintenance of the Product
Provides important information on installation, wiring, and maintenance to prevent malfunctioning, accidents, and injuries.
Chapter 5 Data Used for Positioning Control
Explains the parameters and data used for positioning control with the QD75, including setting items for various controls.
Chapter 6 Sequence Program Used for Positioning Control
Explains the programs required to carry out positioning control, including general control configuration and program details.
Chapter 7 Memory Configuration and Data Process
Explains the QD75 memory configuration and data transmission, focusing on buffer memory and flash ROM roles.
Chapter 8 OPR Control
8.1 Outline of OPR Control
Explains the OPR control concept, including the two types: Machine OPR and Fast OPR.
8.2 Machine OPR
Details the operation of machine OPR, including its purpose and the various methods for establishing the OP.
8.3 Fast OPR
Explains the fast OPR operation, which establishes the OP by machine OPR and then performs positioning control without using a near-point dog or zero signal.
Chapter 9 Major Positioning Control
9.1 Outline of Major Positioning Controls
Provides an overview of major positioning controls, including data requirements, operation patterns, and address designation.
9.2 Setting the Positioning Data
Details the relationship between various controls and positioning data, covering linear, circular, and speed controls.
Chapter 10 High-level Positioning Control
10.1 Outline of High-Level Positioning Control
Explains the execution order and conditions for high-level positioning control using block start and condition data.
10.2 High-level Positioning Control Execution Procedure
Outlines the step-by-step procedure for executing high-level positioning control, covering preparation, starting, and monitoring.
10.3 Setting the Block Start Data
Details how to set block start data, including its relation to various controls and setting examples.
10.4 Setting the Condition Data
Explains how to set condition data, its relation to various controls, and provides setting examples.
10.5 Multiple Axes Simultaneous Start Control
Explains how to start and control multiple axes simultaneously by outputting pulses at the same timing.
10.6 Start Program for High-level Positioning Control
Details the procedure for starting high-level positioning control and provides examples of start programs.
Chapter 11 Manual Control
11.1 Outline of Manual Control
Explains manual control, which uses signal input from an external source for positioning operations.
11.2 JOG Operation
Details JOG operation, a control method where the machine moves by only a movement amount while the JOG START signal is ON.
11.3 Inching Operation
Explains inching operation, a control method where a minute movement amount of pulses is output manually.
11.4 Manual Pulse Generator Operation
Details manual pulse generator operation, where positioning is carried out in response to the number of pulses input.
Chapter 12 Control Sub Functions
12.1 Outline of Sub Functions
Explains various sub functions that compensate, limit, or add functions to the control when main functions are executed.
12.2 Sub Functions Specifically for Machine OPR
Details sub functions specific to machine OPR, including OPR retry and OP shift functions.
12.3 Functions for Compensating the Control
Covers functions that compensate for mechanical system errors, such as backlash and near pass.
12.4 Functions to Limit the Control
Explains functions that limit the control, including speed limit, torque limit, and software/hardware stroke limits.
12.5 Functions to Change the Control Details
Details functions for changing control parameters like speed, override, and acceleration/deceleration times.
12.6 Absolute Position Restoration Function
Explains the function to restore the absolute position of a designated axis, eliminating the need for OPR after power outages.
12.7 Other Functions
Details various other functions like step, skip, M code output, teaching, and command in-position functions.
Chapter 13 Common Functions
13.1 Outline of Common Functions
Provides an overview of common functions executed according to user requirements, independent of the control system.
13.2 Parameter Initialization Function
Explains how to return setting data in buffer memory and flash ROM to factory-set initial values.
13.3 Execution Data Backup Function
Details how to back up execution data to flash ROM to prevent loss when the programmable controller power is turned OFF.
13.4 External I/O Signal Logic Switching Function
Explains how to switch I/O signal logic according to external equipment, enabling control without wiring by changing to 'positive logic'.
13.5 External I/O Signal Monitor Function
Describes how to monitor module information and external I/O signal statuses displayed on the system monitor of GX Works2.
Chapter 14 Dedicated Instructions
14.1 List of Dedicated Instructions
Lists the dedicated instructions used to facilitate programming and awareness of buffer memory addresses.
14.2 Interlock During Dedicated Instruction is Executed
Explains that certain dedicated instructions cannot be executed simultaneously for the same axis due to internal interlock.
14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4
Details the dedicated instructions used to restore the absolute position of a designated axis.
14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4
Describes the dedicated instructions used to start the positioning of a designated axis.
14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4
Explains the dedicated instructions used to teach the designated axis, simplifying programming.
14.6 ZP.PFWRT
Details the dedicated instruction used to write QD75 parameters, positioning data, and block start data to the flash ROM.
14.7 ZP.PINIT
Explains the dedicated instruction used to initialize the setting data of the QD75.
Chapter 15 Troubleshooting
15.1 Troubleshooting
Provides guidance on troubleshooting using the QD75 LEDs and corrective actions for motor rotation issues.
15.2 Error and Warning Details
Details errors and warnings detected by the QD75, including their classification, codes, and operation status.
15.3 List of errors
Lists common errors, their names, descriptions, and operation status at error occurrence for the QD75.
15.4 List of warnings
Details various warnings including system and axis warnings, and their operation status at warning occurrence.
APPENDICES
Appendix 1 Version up of the functions
Compares functions according to function versions and buffer memory for their additional functions.
Appendix 2 Format sheets
Provides format sheets including operation charts and parameter setting value entry tables for positioning modules.
Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses
Lists buffer memory addresses for positioning data, divided by axis and data item.
Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
Provides connection examples for QD75D N with MR-J3- A (Differential driver).
Appendix 4 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.
Provides connection examples for QD75P N with VEXTA UPD (Open collector).
Appendix 6 Connection examples with servo amplifiers manufactured by Panasonic Corporation
Provides connection examples for QD75D N and MINAS-A series (Differential driver).
Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation
Provides connection examples for QD75D N and ∑- series (Differential driver).
Appendix 9 Comparisons with conventional positioning modules
Compares QD75 specifications with conventional positioning modules like A1SD71S2 and A1SD75 series.
Appendix 10 When using GX Works2
Shows procedures for positioning operation using GX Works2, including adding modules, setting parameters, and debugging.
Appendix 10.1 Adding a module
Describes how to add the model name of the positioning module to be used in the project within GX Works2.
Appendix 10.2 Setting parameters
Explains how to set parameters for the positioning module using GX Works2.
Appendix 10.3 Setting auto refresh
Details how to transfer data in buffer memory to specified devices in the CPU module by setting auto refresh.
Appendix 10.4 Positioning monitor
Explains how to confirm the QD75 operating status and perform debugging using various monitor types.
Appendix 10.5 Positioning test
Describes how to perform positioning tests (start, JOG, speed change, current value change) while monitoring.
Appendix 10.6 Wave trace
Explains how to display speed command (axis speed) in positioning operation in waveform data using GX Works2.
Appendix 10.7 Location trace
Details how to display 2-axis interpolation control and simultaneous start (2-axes) in locus data.
Appendix 10.8 Parameter initialization function
Explains how to return setting data in buffer memory and flash ROM to factory-set initial values.
Appendix 10.9 Execution data backup function
Details how to back up execution data to flash ROM to prevent loss when the programmable controller power is turned OFF.
Appendix 10.10 External I/O signal logic switching function
Explains how to switch I/O signal logic according to external equipment connected to the QD75.
Appendix 10.11 External I/O signal monitor function
Describes how to monitor module information and external I/O signal statuses displayed on the system monitor of GX Works2.
Appendix 10.12 History monitor function
Explains how to monitor starting history, error history, and warning history stored in the buffer memory.
Appendix 10.13 Checking errors
Explains how to check error codes for errors occurred in the QD75 and find corrective actions.
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