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Mitsubishi Manuals
Control Unit
MELSEC QD75D4
User manual
Mitsubishi MELSEC QD75D4 User Manual
Positioning module
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Contents
Table of Contents
Bookmarks
Table of Contents
Safety Instructions
Revisions
Table of Contents
About Manuals
Using this Manual
Conformation to the EMC and LOW-VOLTAGE DIRECTIVES
Generic Terms and Abbreviations
Component List
Section 1 Product Specifications and Handling
Positioning Control
Features of QD75
Purpose and Applications of Positioning Control
Mechanism of Positioning Control
Outline Design of Positioning System
Communicating Signals between QD75 and each Module
Flow of System Operation
Flow of All Processes
Outline of Starting
Outline of Stopping
Outline for Restarting
Restrictions with a System Using a Stepping Motor
Function Additions/Modifications According to Function Version B
System Configuration 2- 1 to
General Image of System
Component List
Applicable System
How to Check the Function Version and SERIAL no
Performance Specifications
List of Functions
QD75 Control Functions
QD75 Main Functions
QD75 Sub Functions and Common Functions
Combination of QD75 Main Functions and Sub Functions
Specifications of Input/Output Signals with PLC CPU
List of Input/Output Signals with PLC CPU
Details of Input Signals (QD75 PLC CPU)
Specifications of Input/Output Interfaces with External Devices
Electrical Specifications of Input/Output Signals
Signal Layout for External Device Connection Connector
List of Input/Output Signal Details
Input/Output Interface Internal Circuit
Outline of Installation, Wiring and Maintenance
Installation, Wiring and Maintenance Procedures
Names of each Part
Handling Precautions
Installation
Precautions for Installation
Wiring
Precautions for Wiring
Wiring of the Differential Driver Common Terminal
Confirming the Installation and Wiring
Items to Confirm When Installation and Wiring Are Completed
Maintenance
Precautions for Maintenance
Disposal Instructions
Types of Data
Parameters and Data Required for Control
Setting Items for Positioning Parameters
Setting Items for OPR Parameters
Setting Items for Positioning Data
Setting Items for Block Start Data
Setting Items for Condition Data
Types and Roles of Monitor Data
Types and Roles of Control Data
List of Parameters
Basic Parameters 1
Basic Parameters 2
Detailed Parameters 1
Detailed Parameters 2
OPR Basic Parameters
OPR Detailed Parameters
List of Positioning Data
List of Block Start Data
List of Condition Data
List of Monitor Data
System Monitor Data
Axis Monitor Data
List of Control Data
System Control Data
Axis Control Data
Precautions for Creating Program
List of Devices Used
Creating a Program
General Configuration of Program
Positioning Control Operation Program
Positioning Program Examples
Program Details
Initialization Program
Start Details Setting Program
Start Program
Continuous Operation Interrupt Program
Restart Program
Stop Program
Configuration and Roles of QD75 Memory
Buffer Memory Area Configuration
Data Transmission Process
Outline of OPR Control
Two Types of OPR Control
Machine OPR
Outline of the Machine OPR Operation
Machine OPR Method
OPR Method (1): Near-Point Dog Method
OPR Method (2): Stopper Method 1)
OPR Method (3): Stopper Method 2)
OPR Method (4): Stopper Method 3)
OPR Method (5): Count Method1)
OPR Method (6): Count Method 2)
Fast OPR
Outline of the Fast OPR Operation
Outline of Major Positioning Controls
Data Required for Major Positioning Control
Operation Patterns of Major Positioning Controls
Designating the Positioning Address
Confirming the Current Value
Control Unit "Degree" Handling
Interpolation Control
Setting the Positioning Data
Relation between each Control and Positioning Data
1-Axis Linear Control
2-Axis Linear Interpolation Control
3-Axis Linear Interpolation Control
4-Axis Linear Interpolation Control
1-Axis Fixed-Feed Control
2-Axis Fixed-Feed Control (Interpolation)
3-Axis Fixed-Feed Control (Interpolation)
4-Axis Fixed-Feed Control (Interpolation)
2-Axis Circular Interpolation Control with Sub Point Designation
2-Axis Circular Interpolation Control with Center Point Designation
1-Axis Speed Control
2-Axis Speed Control
3-Axis Speed Control
4-Axis Speed Control
Speed-Position Switching Control (INC Mode)
Speed-Position Switching Control (ABS Mode)
Position-Speed Switching Control
Current Value Changing
NOP Instruction
JUMP Instruction
Loop
Lend
Outline of High-Level Positioning Control
Data Required for High-Level Positioning Control
Block Start Data" and "Condition Data" Configuration
High-Level Positioning Control Execution Procedure
Setting the Block Start Data
Relation between Various Controls and Block Start Data
Block Start (Normal Start)
Condition Start
Wait Start
Simultaneous Start
Repeated Start (for Loop)
Repeated Start (for Condition)
Restrictions When Using the NEXT Start
Setting the Condition Data
Relation between Various Controls and the Condition Data
Condition Data Setting Examples
Multiple Axes Simultaneous Start Control
Start Program for High-Level Positioning Control
Starting High-Level Positioning Control
Example of a Start Program for High-Level Positioning Control
Outline of Manual Control
Three Manual Control Methods
JOG Operation
Outline of JOG Operation
JOG Operation Execution Procedure
Setting the Required Parameters for JOG Operation
Creating Start Programs for JOG Operation
JOG Operation Example
Inching Operation
Outline of Inching Operation
Inching Operation Execution Procedure
Setting the Required Parameters for Inching Operation
Creating a Program to Enable/Disable the Inching Operation
Inching Operation Example
Manual Pulse Generator Operation
Outline of Manual Pulse Generator Operation
Manual Pulse Generator Operation Execution Procedure
Setting the Required Parameters for Manual Pulse Generator Operation
Creating a Program to Enable/Disable the Manual Pulse Generator Operation
Outline of Sub Functions
Sub Functions Specifically for Machine OPR
OPR Retry Function
OP Shift Function
Functions for Compensating the Control
Backlash Compensation Function
Electronic Gear Function
Near Pass Function
Functions to Limit the Control
Speed Limit Function
Torque Limit Function
Software Stroke Limit Function
Hardware Stroke Limit Function
Functions to Change the Control Details
Speed Change Function
Override Function
Acceleration/Deceleration Time Change Function
Torque Change Function
Absolute Position Restoration Function
Other Functions
Step Function
Skip Function
M Code Output Function
Teaching Function
Target Position Change Function
Command In-Position Function
Acceleration/Deceleration Processing Function
Pre-Reading Start Function
Deceleration Start Flag Function
Stop Command Processing for Deceleration Stop Function
Outline of Common Functions
Parameter Initialization Function
Execution Data Backup Function
External I/O Signal Logic Switching Function
External I/O Signal Monitor Function
List of Dedicated Instructions
Interlock During Dedicated Instruction Is Executed
Abrst1, Abrst2, Abrst3, Abrst4
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Mitsubishi Programmable
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