Mitsubishi Electric QD77MS Manuals

Manuals and User Guides for Mitsubishi Electric QD77MS. We have 2 Mitsubishi Electric QD77MS manuals available for free PDF download: User Manual

Mitsubishi Electric QD77MS User Manual

Mitsubishi Electric QD77MS User Manual (1053 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 7.67 MB

Table of Contents

Safety Precautions
3
Conditions of Use for the Product
13
Introduction
14
Revisions
15
Table of Contents
16
Compliance with the Emc and Low Voltage Directives
24
- CPU Module
  24
- For Programmable Controller System
  24
Relevant Manuals
24
- Simple Motion Module
  24
- Programming Tool
  25
- Servo Amplifier
  25
Manual Page Organization
26
Terms
27
Packing List
28
Section 1 Product Specifications and Handling
29
Chapter 1 Product Outline

31
Chapter 2 System Configuration

61
Chapter 3 Specifications and Functions

73
Chapter 4 Installation, Wiring and Maintenance of the Product

119
- Outline of Installation, Wiring and Maintenance
  120
- Installation, Wiring and Maintenance Procedures
  120
- Names of each Part
  121
- Handling Precautions
  123
  - Other Precautions
    124
  - Main Body
    124
  - Cable
    124
  - Installation Environment
    124
- Precautions for Installation
  125
- Precautions for Wiring
  126
- Wiring Example of Shielded Cable
  129
- Precautions for Wiring
  129
  - Grounding of FG Wire
    130
  - Processing Example of Shielded Cables
    131
  - Connections of FG Wire and each Shielded Cable
    131
  - Assembling of Connector (A6CON1)
    131
  - How to Ground Shielded Cable Using AD75CK
    132
  - Precautions for SSCNET III Cable Wiring
    133
  - Minimum Bend Radius
    133
  - Tension
    133
  - Lateral Pressure
    133
  - Twisting
    134
  - Disposal
    134
  - Wiring Process of SSCNET III Cable
    134
  - Bundle Fixing
    135
  - Example of Measure against Noise for Compliance with the EMC Directive
    136
- Confirming the Installation and Wiring
  137
- Items to Confirm When Installation and Wiring Are Completed
  137
- Precautions for Maintenance
  138
- Disposal Instructions
  138
Chapter 5 Data Used for Positioning Control

139
- Types of Data
  140
- Parameters and Data Required for Control
  140
  - Setting Data
    140
  - Monitor Data
    143
  - Control Data
    143
- Setting Items for Positioning Parameters
  144
- Checking the Positioning Parameters
  145
- Setting Items for OPR Parameters
  146
- Checking the OPR Parameters
  146
- Setting Items for Expansion Parameters
  147
- Setting Items for Servo Parameters
  147
- Setting Items for Positioning Data
  148
- Setting Items for Block Start Data
  150
- Setting Items for Condition Data
  151
- Types and Roles of Monitor Data
  152
  - Monitoring the Positioning System Operation History
    152
  - Monitoring the Axis Operation State
    154
  - Monitoring the Position
    154
  - Monitoring the Speed
    154
  - Monitoring the Status of Servo Amplifier
    155
  - Monitoring the State
    155
- Types and Roles of Control Data
  157
  - Setting and Resetting the Setting Data
    157
  - Controlling the Operation
    158
  - Controlling the Speed
    159
  - Change Operation Mode
    159
  - Making Settings Related to Operation
    159
- List of Parameters
  161
- Basic Parameters 1
  161
  - Unit Setting
    162
  - Electronic Gear (Movement Amount Per Pulse)
    162
  - Number of Pulses Per Rotation (AP)
    164
  - Movement Amount Per Rotation (AL), [Pr.4] Unit Magnification (AM)
    164
  - Bias Speed at Start
    165
  - Precautionary Notes
    166
  - Speed Limit Value
    167
- Basic Parameters 2
  167
- Detailed Parameters 1
  168
  - Backlash Compensation Amount
    170
  - Software Stroke Limit Upper Limit Value
    171
  - Software Stroke Limit Lower Limit Value
    171
  - Software Stroke Limit Selection
    172
  - Software Stroke Limit Valid/Invalid Setting
    172
  - Command In-Position Width
    172
  - Torque Limit Setting Value
    172
  - M Code on Signal Output Timing
    173
  - Speed Switching Mode
    174
  - Interpolation Speed Designation Method
    174
  - Current Feed Value During Speed Control
    175
  - Input Signal Logic Selection
    175
  - External Input Signal Selection
    176
  - Manual Pulse Generator/Incremental Synchronous Encoder Input Selection
    177
  - A-Phase/B-Phase Mode
    177
  - Pls/Sign
    178
  - Speed-Position Function Selection
    178
  - Forced Stop Valid/Invalid Selection
    178
- Detailed Parameters 2
  179
- OPR Basic Parameters
  191
  - OPR Method
    192
  - Near-Point Dog Method
    193
  - Count Method
    193
  - Data Set Method
    194
  - Scale Origin Signal Detection Method
    194
  - OPR Direction
    195
  - OP Address
    196
  - OPR Speed
    196
  - Creep Speed
    197
  - OPR Retry
    198
  - Operation for OPR Retry Function
    198
- OPR Detailed Parameters
  199
  - Setting for the Movement Amount after Near-Point Dog on
    200
  - OPR Acceleration Time Selection
    200
  - OPR Deceleration Time Selection
    201
  - OP Shift Amount
    201
  - OPR Torque Limit Value
    202
  - Operation Setting for Incompletion of OPR
    202
  - Start/Restart Impossible Control
    202
  - Speed Designation During OP Shift
    203
  - Dwell Time During OPR Retry
    203
- Expansion Parameters
  204
- Servo Parameters
  209
  - Servo Series
    209
  - Parameters of MR-J4(W)-B/MR-JE-B
    209
  - Basic Setting Parameters
    210
  - Gain/Filter Setting Parameters
    211
  - Extension Setting Parameters
    212
  - I/O Setting Parameters
    213
  - Extension Setting 2 Parameters
    214
  - Special Setting Parameters
    215
  - Extension Setting 3 Parameters
    215
  - Option Setting Parameters
    216
  - Linear Servo Motor/DD Motor Setting Parameters
    216
  - Parameters of MR-J3(W)-B
    217
  - Gain/Filter Parameters
    218
  - Expansion Setting Parameters
    219
  - Input/Output Setting Parameters
    219
  - Extension Control Parameters
    220
- List of Positioning Data
  222
  - Guide to Buffer Memory Address
    223
  - Operation Pattern
    226
  - Control Method
    226
  - Acceleration Time No.
    226
  - Deceleration Time No.
    227
  - Axis to be Interpolated
    227
  - Positioning Address/Movement Amount
    227
  - Absolute (ABS) System, Current Value Changing
    227
  - Position-Speed Switching Control
    228
  - When "[Pr.1] Unit Setting" Is "MM"
    229
  - When "[Pr.1] Unit Setting" Is "Degree"
    230
  - When "[Pr.1] Unit Setting" Is "PLS"
    231
  - When "[Pr.1] Unit Setting" Is "Inch"
    232
  - Arc Address
    232
  - Command Speed
    234
  - Dwell Time/Jump Designation Positioning Data No.
    235
  - M Code/Condition Data No./Number of LOOP to LEND Repetitions
    236
- List of Block Start Data
  238
  - Shape
    242
  - Special Start Instruction
    242
  - Parameter
    242
- List of Condition Data
  243
  - Condition Target
    248
  - Condition Operator
    248
  - Address
    248
- List of Monitor Data
  252
- Axis Monitor Data
  266
- List of Control Data
  296
- Axis Control Data
  304
Chapter 6 Sequence Program Used for Positioning Control

341
- Precautions for Creating Program
  342
  - Reading/Writing the Data
    342
  - Restrictions to Speed Change Execution Interval
    342
  - Process During Overrun
    342
  - Control Unit
    343
  - Communication with the Simple Motion Module
    343
- List of Devices Used
  346
- Inputs/Outputs, External Inputs/External Outputs, and Internal Relays
  346
- Creating a Program
  356
- General Configuration of Program
  356
- Positioning Control Operation Program
  357
- Positioning Program Examples
  361
- Program Details
  393
- Initialization Program
  393
- Start Details Setting Program
  394
- Start Program
  396
- Continuous Operation Interrupt Program
  408
  - Operation During Continuous Operation Interruption
    408
  - Control Data Requiring Settings
    409
- Restart Program
  410
  - Restart Operation
    410
  - Control Data Requiring Setting
    411
  - Time Chart for Restarting
    412
- Stop Program
  413
  - Stop Process
    413
  - Types of Stop Processes
    414
  - Deceleration Stop
    414
  - Sudden Stop
    414
  - Immediate Stop
    414
  - Order of Priority for Stop Process
    415
  - Inputting the Stop Signal During Deceleration
    416
  - Memory Configuration and Data Process
    417
- Configuration and Roles of QD77MS Memory
  418
- Details of Areas
  419
- Buffer Memory Area Configuration
  421
- Data Transmission Process
  423
Chapter 8 Two Types of OPR Control

440
- Machine OPR
  440
  - OPR Request
    441
  - When Not Using an Absolute Position System
    441
  - When Using an Absolute Position System
    441
  - Wiring the Near-Point Dog
    442
  - OPR Sub Functions
    443
  - When an OPR Is Not Required
    443
  - OPR from GX Works2
    443
- Outline of the Machine OPR Operation
  444
- Machine OPR Operation
  444
- Machine OPR Method
  445
- OPR Method (1): Near-Point Dog Method
  446
  - Precautions During Operation
    447
  - Operation Chart
    448
- OPR Method (2): Count Method 1)
  448
- OPR Method (3): Count Method 2)
  450
- OPR Method (4): Data Set Method
  452
- OPR Method (5): Scale Origin Signal Detection Method
  453
- Fast OPR
  456
- Outline of the Fast OPR Operation
  456
  - Operation Timing and Processing Time of Fast OPR
    457
  - Operating Restrictions
    457
  - Normal Timing Time
    457
- Selection of the OPR Setting Condition
  458
- Outline of the OPR Setting Condition
  458
- Data Setting
  458
Chapter 9 Major Positioning Control

459
Appendix 1 List of Buffer Memory Addresses

948
Appendix 2 Connection with Servo Amplifiers

974
Appendix 2.1 SSCNET Cables

975
Appendix 2.2 Serial Absolute Synchronous Encoder Cable

979
Appendix 2.3 SSCNET Cable (SC-J3BUS_M-C) Manufactured by

982
Appendix 3 Connection with External Device

983
Appendix 3.1 Connector

983
Appendix 3.2 External Input Signal Cable

985
Appendix 3.3 Manual Pulse Generator (MR-HDP01)

991
Appendix 4 Comparisons with Positioning Modules/Ld77Mh Models

992
Appendix 4.1 Differences with QD75MH Models

992
Appendix 4.2 Differences with LD77MH Models

1006
Appendix 5 When Using GX Works2

1011
Appendix 6 Compatible Devices with SSCNET (/H)

1012
Appendix 6.1 Servo Driver VCII Series/Vph Series Manufactured by Nikki Denso Co., Ltd

1012
Appendix 6.2 Inverter FR-A700 Series

1019
- ORIENTAL MOTOR Co., Ltd
  1028
Appendix 6.4 IAI Electric Actuator Controller Manufactured by IAI Corporation

1037
Appendix 6.5 Connection with MR-JE-B

1045
Appendix 7 External Dimension Drawing

1046

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Mitsubishi Electric QD77MS User Manual

Mitsubishi Electric QD77MS User Manual (238 pages)

Simple Motion Module

Brand: Mitsubishi Electric | Category: Controller | Size: 2.06 MB

Table of Contents

Safety Precautions
3
Conditions of Use for the Product
16
Introduction
17
Revisions
18
Table of Contents
19
Compliance with the Emc and Low Voltage Directives
22
Relevant Manuals
23
Manual Page Organization
26
Terms
28
Packing List
29
Outline of Synchronous Control
33
Chapter 1 Outline of Synchronous Control

34
Chapter 2 Input Axis Module

50
Chapter 3 Cam Function

86
- Control Details for Cam Function
  86
- Create Cam Data
  94
- Synchronous Control
  105
  - Main Shaft Module
    106
Chapter 4 Synchronous Control

106
- Overview of Main Shaft Module
  106
- Main Shaft Parameters
  107
- Main Shaft Clutch Parameters
  109
- Main Shaft Clutch Control Data
  117
- Auxiliary Shaft Module
  118
- Clutch
  130
  - Overview of Clutch
    130
  - Control Method for Clutch
    130
  - Smoothing Method for Clutch
    137
  - Use Example of Clutch
    142
- Speed Change Gear Module
  143
  - Overview of Speed Change Gear Module
    143
  - Speed Change Gear Parameters
    144
- Output Axis Module
  146
  - Overview of Output Axis Module
    146
  - Output Axis Parameters
    148
- Synchronous Control Change Function
  152
  - Overview of Synchronous Control Change Function
    152
  - Synchronous Control Change Control Data
    153
- Synchronous Control Monitor Data
  158
- Phase Compensation Function
  163
- Output Axis Sub Functions
  166
Chapter 5 Synchronous Control Initial Position

170
Chapter 6 Troubleshooting (Synchronous Control)

205
- Error and Warning of Input Axis
  205
  - List of Input Axis Errors
    206
  - List of Input Axis Warnings
    207
- Error and Warning of Output Axis
  208
  - List of Output Axis Errors
    208
  - List of Output Axis Warnings
    212
- Warning of Cam Operation
  213
Appendix- 1 to Appendix-18

218
Appendix 1 Comparisons with the Motion Controller SV22

218
Appendix 2 Sample Program of Synchronous Control

222
Appendix 3 Lists of Buffer Memory Addresses for Synchronous Control

226

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