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Mitsubishi Electronics QD75D, QD75P 12.6 Absolute position restoration function, [1] Configuration and preparation of absolute position detection system

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12 CONTROL SUB FUNCTIONS

12.6 Absolute position restoration function

! CAUTION

When the absolute position restoration is c arried out, the servo ON signal may be turn ed OFF (servo OFF)

for about 20 ms, and the motor may operate. If this is not desired, install an electromag netic brake

separately and lock the motor by that brake during the absolute posit ion restoration.

The "absolute position restoration function" is a function to restore the absolute

position of the designated axis by the absol ute position detection system. By this

function, the OPR after power OFF such as insta ntaneous power interruption and

emergency stop is not required, and the restor ation operation at site can be carried ou t

easily.

The details of the "absolute position restorat ion function" are described below.

[1] Configuration and preparation of absolute position detec tion system

[2] Outline of absolute position detection d ata communication

[3] Absolute position signal transmission procedure

[4] Precautions during control

[1] Configuration and preparation of absolute position detection system

(1) Configuration

The following drawing shows the configurati on of the absolute position

detection system.

Servo

amplifier

Power

supply

Detector cable

Absolute position holding battery

Control signal connector

PLC system

QCPU

QD75 I/O

module

Operation

panel

Servomotor with absolute position detector

Fig. 12.32 Configuration of absolute position detection sy stem

Contents

Main Page SAFETY INSTRUCTIONS ! CAUTION [Design Instructions] Page Page Page Page Page Page Page Page Page Page Page Pr. A - 14 Page Page Section 1 Section 1 Product Specifications and Handling Page Chapter 1 Product Outline 1.1 Positioning control 1.1.1 Features of QD75 (1) Availability of one, two, and four axis modules (2) Wide variety of positioning control functions (3) Quick startup (Refer to Section 3.1.) (4) Faster pulse output and allowance of longer distance to drive unit (Refer to Section 3.1.) (5) Easy maintenance Page 1 - 5 1.1.2 Purpose and applications of positioning control 1 - 6 1 - 7 1.1.3 Mechanism of positioning control Position control Speed control 1.1.4 Outline design of positioning system (1) Positioning system using QD75 (a) Positioning operation by the QD75 (b) Pulse train output from the QD75 (2) Movement amount and speed in a system using worm gears Page 1 - 12 1.1.5 Communicating signals between QD75 and each module QD75 PLC CPU 1 - 13 QD75 PLC CPU The QD75 and PLC CPU communicate the following data via the base un it. QD75 Peripheral device The QD75 and peripheral device communicate the f ollowing data via the PLC CPU: QD75 Drive unit QD75 External signal 1 - 15 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the QD75, are shown below. 1 - 16 The following work is carried out with the process es shown on the previous page. Page 1 - 18 1.2.2 Outline of starting Set the positioning parameters. Major position- ing control Positioning parameters 1 - 19 QD75 1 - 20 1.2.3 Outline of stopping 1.2.4 Outline for restarting When " Cd.6 Restart command" is ON Reference 1.3 Restrictions with a system using a stepping motor 1.4 Function additions/modifications according to function version B Chapter 2 System Configuration 2.1 General image of system Page 2 - 4 2.2 Component list The positioning system using the QD75 is co nfigured of the following devices. Specifications of recommended manual pulse generator 2.3 Applicable system (1) Applicable modules and the number of installable modules (2) Usable base unit (3) Compatibility with multiple PLC system (4) Supported software packages 2.4 How to check the function version and SERIAL No. [1] Method using the rated plate on the module side face [2] Method using the software Chapter 3 Specifications and Functions 3 - 2 3.1 Performance specifications 3 - 3 Differential driver common terminal specifications(QD75D1, QD75D2, QD75D4 only) Applicable wire size 12AWG Solid wire: 0.2 to 0.8 mm2 2 pcs. 3.2 List of functions 3.2.1 QD75 control functions Main functions Sub functions Common functions 3 - 5 3 - 6 3.2.2 QD75 main functions 3 - 7 3 - 8 3.2.3 QD75 sub functions and common functions Sub functions 3 - 9 3 - 10 Common functions Page 3 - 12 3.2.4 Combination of QD75 main functions and sub functions 3 - 13 3 - 14 3 - 15 3.3.2 Details of input signals (QD75 PLC CPU) The ON/OFF timing and conditions of the input s ignals are shown below. 3 - 16 3.3.3 Detail of output signals (PLC CPU QD75) The ON/OFF timing and conditions of the output s ignals are shown below. 3 - 17 Input specifications 3 - 18 Output specifications 3 - 19 3.4.2 Signal layout for external device connection connector 3 - 20 3.4.3 List of input/output signal details The details of each QD75 external device connec tion connector are shown below: 3 - 21 3 - 22 3.4.4 Input/output interface internal circuit (1) Input (Common to QD75P1 and QD75D1) (a) Input signal ON/OFF status (b) About logic setting and internal circuit 3 - 24 (2) Output (For QD75P1) (3) Output (For QD75D1) Chapter 4 Installation, Wiring and Maintenance of the Product 4 - 2 dispose of it with the specified methods. STEP 7 STEP 5 STEP 4 4.1.2 Names of each part (1) The part names of the QD75 are shown belo w: QD75P4 QD75D4 4 - 4 QD75P4 RUN ERR AX1 AX2 AX3 AX4 (3) The interface of each QD75 is as shown be low. Page [2] Other precautions (1) Main body (2) Cable (3) Installation environment 4.2 Installation 4.2.1 Precautions for installation Precautions for installation ! CAUTION 4.3 Wiring 4.3.1 Precautions for wiring 4 - 9 [Wiring example of shielded cable] [Processing example of shielded cables] Page [How to ground shielded cable using AD75CK] [Wiring examples using duct (incorrect example and corrected example)] 4.3.2 Wiring of the differential driver common terminal Page Page Page Chapter 5 Data Used for Positioning Control 5 - 2 5.1 Types of data 5.1.1 Parameters and data required for control Page 5 - 4 5.1.2 Setting items for positioning parameters Pr.1 Pr.2 Pr.3 Pr.4 Pr.5 Pr.6 Pr.7 Pr.8 Pr.9 Checking the positioning parameters Pr.1 to 5 - 6 5.1.3 Setting items for OPR parameters Checking the OPR parameters. Pr.43 to Pr.57 are checked with the following timing. 5 - 7 5.1.4 Setting items for positioning data Da.2 Da.1 Da.3 Da.4 Da.5 Da.6 Page Page 5.1.5 Setting items for block start data Checking the block start data 5.1.6 Setting items for condition data Checking the condition data 5.1.7 Types and roles of monitor data [1] Monitoring the system Monitoring the positioning system operation history 5 - 13 [2] Monitoring the axis operation state Monitoring the position Monitoring the speed 5 - 14 Monitoring the state Page 5.1.8 Types and roles of control data [1] Controlling the system data Setting and resetting the setting data 5 - 17 [2] Controlling the operation Controlling the operation Controlling operation per step Controlling the speed 5 - 18 Making settings related to operation Page 5.2 List of parameters 5.2.1 Basic parameters 1 Pr.1 Pr.2 to Pr.4 Pr.2 Pr.3 Movement amount per rotation (Al), Pr.4 Page Pr.5 (1) PULSE/SIGN mode (2) CW/CCW mode (3) A phase/B phase mode Pr.6 Page [Table 1] on right page [Table 2] on right page 5 - 26 Pr.7 5.2.2 Basic parameters 2 Pr.8 Pr.9 Acceleration time 0, Pr.10 Deceleration time 0 5 - 28 5.2.3 Detailed parameters 1 [Table 1] on right page [Table 2] on right page Pr.11 Pr.12 Set the upper limit for the machine's movement range during positio ning control. Pr.13 Set the lower limit for the machine's movement range during positio ning control. Pr.14 Pr.15 Pr.16 Pr.17 Pr.18 5 - 32 Pr.19 Pr.20 Pr.21 Pr.22 Input signal logic selection, Pr.23 Pr.24 Page 5 - 36 5.2.4 Detailed parameters 2 Pr.25 Acceleration time 1 to Pr.27 Pr.28 Deceleration time 1 to Pr.30 Pr.31 Pr.32 Pr.33 5 - 38 Pr.34 The S-pattern acceleration/deceleration is disabled when a stepping m otor is used. <Automatic trapezoid acceleration/deceleration> <S-pattern acceleration/deceleration> Pr.35 5 - 40 Pr.36 Pr.37 to 5 - 42 Pr.41 Pr.42 Page 5.2.5 OPR basic parameters Pr.43 5 - 47 5 - 48 5 - 49 Pr.44 Pr.45 Pr.46 5 - 51 Pr.47 Pr.48 Page 5 - 54 5.2.6 OPR detailed parameters Pr.49 Pr.50 5 - 55 Pr.51 Pr.52 5 - 56 [Table 1] on right page Pr.53 Pr.54 Pr.55 Pr.56 Pr.57 5 - 58 5.3 List of positioning data 5 - 59 23 Positioning data No. 1 23 Axis 3 Buffer memory address H Axis to be interpolated (in 2-axis interpolation only) Da.1 Da.2 Da.3 Da.4 Da.5 Da.6 (1) Absolute (ABS) system, current value changing 5 - 63 (2) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4 When " Pr.1 Unit Setting" is "mm" 5 - 64 (3) Speed-position switching control Set the amount of movement after the switchin g from speed control to position control. (4) Position-speed switching control speed control. When " Pr.1 Unit Setting" is "degree" 5 - 65 When " Pr.1 Unit Setting" is "pulse" 5 - 66 When " Pr.1 Unit Setting" is "inch" Page Da.7 5 - 69 When " Pr.1 Unit Setting" is "mm" When " Pr.1 Unit Setting" is "inch" 5 - 70 [Table 1] on right page Da.8 Da.10 [Table 3] Da.9 Page 5 - 74 5.4 List of block start data Axis 2 (Start block 0) Axis 1 (Start block 0) 5 - 75 Axis 3 (Start block 0) Axis 4 (Start block 0) 5 - 76 5 - 77 Special start instruction Parameter 5 - 78 Da.11 Refer to Chapter 10 "High-level Positioning Control" for details on th e control. Da.12 Set the "positioning data No." designated with the "block start data ". Da.13 Da.14 Set the value as required for "Da.13 Special start ins tr uc t ion ". 5 - 80 5.5 List of condition data Axis 2 (start block 0) Axis 1 (start block 0) 5 - 81 Axis 3 (start block 0) Axis 4 (start block 0) Page 5 - 83 P1, P2 5 - 84 Da.15 Set the condition target as required for each control. Da.16 Set the condition operator as required for the " Da.15 Condition target". Da.17 Da.18 Set the parameters as required for the " Da.16 Condition operator". Da.19 Set the parameters as required for the " Da.16 Condition operator". Page 5 - 87 5 - 88 Storage item Storage details Reading the monitor value The starting time is stored. (Hour) D Monitor value Start No. The starting No. is stored. 00000 information 5 - 89 assigned to the latest of the existing starting history records. ) Each group of buffer memory addresses storing a complete starting history ( D 5 - 90 C B A 5 - 91 assigned to the latest of the existing starting history records. 0 1292 Each group of buffer memory addresses storing a complete starting history 5 - 92 5 - 93 assigned to the latest of the existing error history records. 0 1357 Each group of buffer memory addresses storing a complete error history 5 - 94 5 - 95 assigned to the latest of the existing warning history r ecords. Each group of buffer memory addresses storing a complete warning history 0 1422 01424 1425 5.6.2 Axis monitor data 5 - 97 E F G H FGH 5 - 98 5 - 99 Monitoring is carried out with a decimal display. 1111 1011 1110 911 1010 5 - 100 5 - 101 0000H812 813 912 0000H816 916 1016 1116 1015 1114 915 1014 5 - 102 Storage item Storage details Md.32 Target value Md.31 Status address/movement amount". 5 - 103 Monitoring is carried out with a hexadecimal display. 1119 1019 1118 919 1018 5 - 104 5 - 105 A B C D E F G H F G H 5 - 106 5 - 107 Monitoring is carried out with a decimal display. 0 831 931 1031 1131 0 827 927 1027 1127 Monitoring is carried out with a decimal display. 5 - 108 5 - 109 5 - 110 5.7 List of control data 5.7.1 System control data 5 - 111 value K1 5 - 112 5.7.2 Axis control data 5 - 113 Setting value Default 0 1504 1604 1704 1804 v K 0 1500 1600 1700 1800 Set with a decimal. value K 0 1501 1601 1701 1801 Set with a decimal. 5 - 114 5 - 115 Setting value 10 K 5 - 116 5 - 117 5 - 118 5 - 119 Setting value 10 K value 5 - 120 5 - 121 10 v 10 alue 5 - 122 5 - 123 Setting value K Setting value K Setting value K 5 - 124 5 - 125 10 n 5 - 126 5 - 127 S etting value 10 value 5 - 128 K 5 - 130 5 - 131 value Setting value K value Page Chapter 6 Sequence Program Used for Positioning Control Page 6 - 3 (4) System configuration M (5) Control unit In the program, the unit of "0 (mm)" is set f or the basic parameter 1. (6) Communication with QD75 Page 6 - 5 6.2 List of devices used (1) Inputs/outputs, external inputs/external outputs, and internal relays of QD75 6 - 6 6 - 7 6 - 8 (2) Data resisters and timers 6 - 9 6 - 10 6.3 Creating a program 6.3.1 General configuration of program 6 - 12 6.3.2 Positioning control operation program 6 - 13 6 - 14 6 - 15 6.4 Positioning program examples 6 - 16 6 - 17 6 - 18 6 - 19 (2) When positioning start signal (Y10) is used 6 - 20 6 - 21 6 - 22 6 - 23 6.5 Program details 6.5.1 Initialization program [1] OPR request OFF program Data requiring setting Time chart for OPR OFF request [2] External command function valid setting program 6.5.2 Start details setting program Procedures for setting the starting details 6 - 26 6.5.3 Start program 6 - 28 Starting conditions [1] Starting by inputting positioning start signal Operation when starting 6 - 30 Starting time chart Fig. 6.4 Time chart for starting "machine OPR" The time chart for starting each control is shown below. (1) Time chart for starting "machine OPR" 6 - 31 (2) Time chart for starting "fast OPR" Fig. 6.5 Time chart for starting "fast OPR" 6 - 32 (3) Time chart for starting "major positioning control" Fig. 6.7 Time chart for starting "speed-position switchi ng con t rol" 6 - 33 (5) Time chart for starting "position-speed switching control" Fig. 6.8 Time chart for starting "positio n-speed switching control" 6 - 34 Machine OPR operation timing and process time the other axis. Fig. 6.9 Machine OPR operation timing and proc ess time Normal timing time Unit: ms 1.0 to 1.4 2.7 to 4.4 0 to 1.8 0 to 1.8 The t1 timing time could be delayed depending on the operating conditions of Position control operation timing and process time [2] Starting by inputting external command signal Restrictions Data required to be set Starting time chart 6.5.4 Continuous operation interrupt program [1] Operation during continuous operation interruption [3] Control data requiring settings 6.5.5 Restart program [1] Restart operation [3] Control data requiring setting [4] Starting conditions 6 - 41 (5) Time chart for restarting Fig. 6.14 Time chart for restarting 6 - 42 6.5.6 Stop program [1] Stop process [2] Types of stop processes [3] Order of priority for stop process Page 7 - 2 7.1 Configuration and roles of QD75 memory 7.1.1 Configuration and roles of QD75 memory The QD75 is configured of the following two memories. Details of areas Page 7 - 5 7.1.2 Buffer memory area configuration The QD75 buffer memory is configured of the following types of areas. 7 - 6 7.2 Data transmission process Flash ROM (1) Transmitting data when power is turned ON or PLC CPU is reset ( ) (2) Transmitting data with TO command from PLC CPU ( ) (3) Validate parameters when PLC READY signal [Y0] changes from OFF to ON (4) Accessing with FROM command from PLC CPU ( ) 7 - 8 Peripheral devices Buffer memory Flash ROM (5) Flash ROM write ( ) (6) Flash ROM request (writing) ( ) 7 - 10 Peripheral devices Flash ROM (7) Reading data from buffer memory to peripheral device ( ) (8) Writing data from peripheral device to buffer memory ( ) (Ex.) Setting the positioning data Section 2 Section 2 Control Details and Setting Page Chapter 8 OPR Control 8.1 Outline of OPR control 8.1.1 Two types of OPR control OPR sub functions When an OPR is not required OPR from peripheral devices 8.2 Machine OPR 8.2.1 Outline of the machine OPR operation Machine OPR operation 8 - 5 8.2.2 Machine OPR method Pr.43 8 - 6 8.2.3 OPR method (1): Near-point dog method Fig. 8.2 Near-point dog method machine OPR 1) The following shows an operation outline of the "near-point dog method" OPR method. b4) turns from OFF to ON and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF. Page 8 - 8 8.2.4 OPR method (2): Stopper method 1) Fig. 8.4 Stopper method 1) machine OPR The following shows an operation outline of the "stopper meth od 1 )" OPR met h od. Page Page 8 - 11 8.2.5 OPR method (3): Stopper method 2) Fig. 8.7 Stopper method 2) machine OPR The following shows an operation outline of the "stopper meth od 2 )" OPR met h od. Page Page 8 - 14 8.2.6 OPR method (4): Stopper method 3) Fig. 8.10 Stopper method 3) machine OPR Page 8 - 16 8.2.7 OPR method (5): Count method1) Fig. 8.12 Count method1) machine OPR Page 8 - 18 8.2.8 OPR method (6): Count method 2) Fig. 8.14 Count method 2) machine OPR 1) (Positioning start signal) Page 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation Operation timing and processing time of fast OPR Operating restrictions Page Chapter 9 Major Positioning Control 9 - 2 9.1 Outline of major positioning controls 9 - 3 9.1.1 Data required for major positioning control Major positioning control sub functions Major positioning control from peripheral devices 9.1.2 Operation patterns of major positioning controls (operation pattern: 00) [1] Independent positioning control (Positioning complete) [2] Continuous positioning control [3] Continuous path control (1) Continuous path control (2) Deceleration stop conditions during continuous path control 9 - 10 (3) Speed handling (4) Speed switching (Refer to " Pr.19 Speed switching mode".) Page Page 9.1.3 Designating the positioning address Absolute system Incremental system 9 - 16 9.1.4 Confirming the current value Fig. 9.8 Current feed value and machine feed value Values showing the current value Restrictions Monitoring the current value Page Page (b) When the software stroke limit is valid 2) Incremental system 9.1.6 Interpolation control Meaning of interpolation control 9 - 22 Setting the positioning data during interpolation control Starting the interpolation control Interpolation control continuous positioning Speed during interpolation control Cautions in interpolation control Limits to interpolation control Axis operation status during interpolation control 9 - 25 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data Da.2 Da.1 Da.3 Da.4 Da.5 Da.6 Da.7 Da.8 9 - 26 Da.9 Da.1 Da.2 Da.3 Da.4 Da.5 Da.6 9.2.2 1-axis linear control [1] 1-axis linear control (ABS linear 1) 9 - 28 [2] 1-axis linear control (INC linear 1) 9 - 29 9.2.3 2-axis linear interpolation control (current stop position)End point address [1] 2-axis linear interpolation control (ABS linear 2) Axis 2 movement amount Axis 2 Page 9 - 31 [2] 2-axis linear interpolation control (INC linear 2) Page 9.2.4 3-axis linear interpolation control [1] 3-axis linear interpolation control (ABS linear 3) 9 - 34 Page [2] 3-axis linear interpolation control (INC linear 3) 9 - 37 Page 9.2.5 4-axis linear interpolation control [1] 4-axis linear interpolation control (ABS linear 4) 9 - 40 interpolation axis combinations. [2] 4-axis linear interpolation control (INC linear 4) 9 - 42 9.2.6 1-axis fixed-feed control 9 - 44 9.2.7 2-axis fixed-feed control (interpolation) 9 - 46 [Reference axis and interpolation axis are designated as axis 1 and ax is 2, Page Page Page 9 - 50 9.2.9 4-axis fixed-feed control (interpolation) 9 - 52 9.2.10 2-axis circular interpolation control with sub point designation [1] 2-axis circular interpolation control with sub point designation (ABS circular sub) Page 9 - 55 [2] 2-axis circular interpolation control with sub point designation (INC circular sub) Page 9 - 58 9.2.11 2-axis circular interpolation control with center point designation Circular interpolation error compensation Page Page 9 - 63 Page Page 9 - 66 9.2.12 1-axis speed control Current feed value during 1-axis speed control Restrictions 9 - 69 9.2.13 2-axis speed control Current feed value during 2-axis speed control Restrictions Page 9.2.14 3-axis speed control Current feed value during 3-axis speed control Page 9 - 76 9.2.15 4-axis speed control 9 - 78 Fig. 9.12 4-axis speed control operation tim ing Current feed value during 4-axis speed control Page 9 - 81 9.2.16 Speed-position switching control (INC mode) Switching over from speed control to position control 9 - 83 Fig. 9.13 Speed-position switching control ( INC mode) operation timing Page 9 - 85 Operation timing and processing time during speed-position switching control (INC mode) The t1 timing time could be delayed by the operat ion state of other axes. t1 t2 t3 t4 t5 t6 t7 1.1 0 to 1.8 0 to 1.8 2.7 to 4.4 0 to 1.8 1.0 Follows parameters 9 - 86 Current feed value during speed-position switching control (INC mode) Switching time from speed control to position control Speed-position switching signal setting Changing the position control movement amount Page 9 - 89 9.2.17 Speed-position switching control (ABS mode) Switching over from speed control to position control 9 - 91 Fig. 9.16 Speed-position switching control ( ABS mode) operation timing Page 9 - 93 Operation timing and processing time during speed-position switching control (ABS mode) The t1 timing time could be delayed by the operati on state of other axes. t1 t2 t3 t4 t5 t6 t7 1.1 0 to 1.8 0 to 1.8 2.7 to 4.4 0 to 1.8 1.0 Follows parameters Current feed value during speed-position switching control (ABS mode) Switching time from speed control to position control 9 - 95 Speed-position switching signal setting Page 9 - 97 9.2.18 Position-speed switching control Switching over from position control to speed control 9 - 99 Fig. 9.18 Position-speed switching control operatio n ti min g 9 - 100 Operation timing and processing time during position-speed switching control The t1 timing time could be delayed by the opera tion state of other axes. Positioning start signal [Y10,Y11,Y12,Y13] t1 t2 t3 t4 t5 t6 1.0 to 1.4 0 to 1.8 0 to 1.8 2.7 to 4.4 - 1.0 9 - 101 Current feed value during position-speed switching control Switching time from position control to speed control Position-speed switching signal setting Changing the speed control command speed Page 9 - 104 9.2.19 Current value changing [1] Changing to a new current value using the positioning data 9 - 106 [2] Changing to a new current value using the start No. (No. 9003) for a current value changing Operation chart Restrictions Current value changing procedure 9 - 108 Setting method for the current value changing function Refer to Section 5.7 "List of control data" for details on the setting details. (2) The following shows a start time chart. Page 9.2.20 NOP instruction 9.2.21 JUMP instruction Page 9.2.22 LOOP 9.2.23 LEND Chapter 10 High-level Positioning Control 10.1 Outline of high-level positioning control High-level positioning control sub functions High-level positioning control from peripheral devices 10.1.1 Data required for high-level positioning control 10 - 4 10.1.2 "Block start data" and "condition data" configuration Axis 1 condition data b7b8 Axis 1 block start data 10 - 5 7001 7004 Axis 1 block start data 10 - 6 10.2 High-level positioning control execution procedure High-level positioning control is carried out using the following procedure. 10.3 Setting the block start data 10.3.1 Relation between various controls and block start data 10.3.2 Block start (normal start) (1) Block start data setting example 10 - 9 Fig. 10.1 Block start control example 10.3.3 Condition start 10.3.4 Wait start (1) Block start data setting example 10.3.5 Simultaneous start 10.3.6 Repeated start (FOR loop) 10.3.7 Repeated start (FOR condition) 10.3.8 Restrictions when using the NEXT start 10.4 Setting the condition data 10.4.1 Relation between various controls and the condition data 10 - 17 The setting requirements and details of the following "cond ition data" Da.16 to Da.19 setting items differ according to the " Da.15 Condition target" setting. Page 10 - 19 10.4.2 Condition data setting examples The following shows setting examples for "c ondition data". (1) Setting the device ON/OFF as a condition [Condition] Device "X0" (=QD75 READY) is OFF (2) Setting the numeric value stored in the "buffer memory" as a condition 10.5 Multiple axes simultaneous start control [3] Multiple axes simultaneous start control procedure 10 - 21 [4] Multiple axes simultaneous start control function setting method Cd.33 Cd.32 Cd.31 Cd.30 Page 10 - 23 10.6 Start program for high-level positioning control 10.6.1 Starting high-level positioning control Fig. 10.2 High-level positioning control st art procedure 10 - 24 10.6.2 Example of a start program for high-level positioning control Control data that require setting Start conditions 10 - 25 Fig. 10.3 Start time chart for high-level posi tioning control (block start) Da.13 Da.14 (2) Positioning data setting example 10 - 26 Chapter 11 Manual Control 11.1 Outline of manual control 11.1.1 Three manual control methods [1] JOG operation M [2] Inching operation [3] Manual pulse generator operation Manual control sub functions Carrying out manual control from peripheral devices Monitoring manual control 11.2 JOG operation 11.2.1 Outline of JOG operation JOG operation Precautions during operation Errors during operation 11 - 6 JOG operation timing and processing time Delays may occur in the t1 timing time due to the o peration status of other axes. ON The following drawing shows details of the JOG operation timing a nd processing time. t1 t3 11.2.2 JOG operation execution procedure The JOG operation is carried out by the foll owing procedure. STEP 3 STEP 4 STEP 6 11.2.3 Setting the required parameters for JOG operation 11 - 9 11 - 10 11.2.4 Creating start programs for JOG operation Cd.17 Cd.16 11 - 11 Fig. 11.6 JOG operation start time chart 11 - 12 No.12 JOG operation/inching operation execution program No. 10 JOG operation setting program 11.2.5 JOG operation example When the "stop signal" is turned ON during JOG operation Page When the "JOG start signal" is turned ON during a peripheral device test mode When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms) 11.3 Inching operation 11.3.1 Outline of inching operation Inching operation Page 11 - 19 Inching operation timing and processing times t1 timing time. The following drawing shows the details of the inching operation t iming and processing time. 1.0 to 3.0 2.7 to 4.4 0 to 1.8 Depending on parameters Depending on the operating statuses of the other axes, delay may occur in the 11.3.2 Inching operation execution procedure The inching operation is carried out by the following procedure . STEP 3 STEP 4 STEP 6 11.3.3 Setting the required parameters for inching operation 11.3.4 Creating a program to enable/disable the inching operation 11 - 23 Start time chart Fig. 11.14 Inching operation start time chart Page 11.3.5 Inching operation example When "stop signal" is turned ON during inching operation: When "JOG start signal" is turned ON when peripheral devices are in the test mode: When "JOG start signal" is turned ON immediately after stop signal OFF (within 100 ms): 11.4 Manual pulse generator operation 11.4.1 Outline of manual pulse generator operation Manual pulse generator operation Restricted items Precautions during operation Errors during operation Manual pulse generator operation timing and processing time Position control by manual pulse generator operation Speed control by manual pulse generation operation 11 - 31 11.4.2 Manual pulse generator operation execution procedure End of control The manual pulse generator operation is carried out by the follow ing procedure. 11.4.3 Setting the required parameters for manual pulse generator operation 11 - 33 11.4.4 Creating a program to enable/disable the manual pulse generator operation Cd.20 Cd.21 11 - 34 Fig. 11.20 Manual pulse generator operation start ti me ch a rt 11 - 35 Page Chapter 12 Control Sub Functions 12 - 2 12.1 Outline of sub functions 12.1.1 Outline of sub functions The following table shows the types of sub func tions available. It cannot be invalidated with parameters. 12 - 3 12.2 Sub functions specifically for machine OPR 12.2.1 OPR retry function [1] Control details Page Page [2] Precaution during control [3] Setting the OPR retry function 12.2.2 OP shift function [2] Setting range for the OP shift amount [3] Movement speed during OP shift [4] Precautions during control [5] Setting the OP shift function Page [3] Setting the backlash compensation function 12.3.2 Electronic gear function [1] Error compensation method (1) Definition (2) Procedure 12 - 15 Pr.2 Pr.3 Pr.4 [2] Relation between the movement amount per pulse and speed Page 12.3.3 Near pass function [2] Precautions during control Page 12.4 Functions to limit the control 12.4.1 Speed limit function [1] Relation between the speed limit function and various controls [3] Setting the speed limit function 12.4.2 Torque limit function [1] Relation between the torque limit function and various controls Page [4] Setting the torque limit function 12.4.3 Software stroke limit function Page 12 - 28 [2] Software stroke limit check details [3] Relation between the software stroke limit function and various controls [4] Precautions during software stroke limit check [5] Setting the software stroke limit function [6] Invalidating the software stroke limit [7] Setting when the control unit is "degree" Current value address Setting the software stroke limit 12.4.4 Hardware stroke limit function [2] Wiring the hardware stroke limit [4] When the hardware stroke limit function is not used 12.5 Functions to change the control details 12.5.1 Speed change function Page Page 12 - 37 [3] Setting the speed change function from the PLC CPU Fig. 12.26 Time chart for changing the speed from the PLC CPU Cd.14 Cd.15 (2) The following shows the speed change time chart. Page 12 - 39 [4] Setting the speed change function using an external command signal Fig. 12.27 Time chart for changing the speed usi ng an external command signal Pr.42 Cd.8 Cd.14 12 - 40 (3) Add the following sequence program to the con trol program, and write it to the PLC CPU. 12.5.2 Override function [2] Precaution during control [3] Setting the override function Page 12.5.3 Acceleration/deceleration time change function [2] Precautions during control [3] Setting the acceleration/deceleration time change function Page 12.5.4 Torque change function [3] Setting the torque change function start signal 12.6 Absolute position restoration function ! CAUTION [1] Configuration and preparation of absolute position detection system [2] Outline of absolute position detection data communication [3] Absolute position signal transmission procedure Page [4] Controlling instructions Condition 1. Number of output pulses Condition 2. Positioning address [Calculation of positioning address and concept of absolute position detection system] 1. Concept for the unit of mm, inch or pulse Example 1. Example 2. Example 3. 2. Concept for the unit of degree 12.7 Other functions 12.7.1 Step function [1] Relation between the step function and various controls [2] Step mode (1) Deceleration unit step (2) Data No. unit step [3] Step start information Page 12 - 61 [5] Control details Fig. 12.36 Operation during step execution pos itioning data No. unit step (1) The following drawing shows a step operatio n during a "deceleration unit step". [6] Precautions during control [7] Step function settings 12.7.2 Skip function [3] Setting the skip function from the PLC CPU [4] Setting the skip function using an external command signal 12.7.3 M code output function [1] M code ON signal output timing (1) WITH mode 12 - 67 (2) AFTER mode Fig. 12.39 M code ON/OFF timing (AFTER mode) [2] M code OFF request Cd.7 Da.1 Page [4] Setting the M code output function [5] Reading M codes 12.7.4 Teaching function (1) Teaching timing (2) Addresses for which teaching is possible (3) Dedicated instructions "TEACH 1, TEACH 2, TEACH 3, TEACH 4, PFWRT" [3] Data used in teaching 12 - 72 [4] Teaching procedure 12 - 73 ) 2) 1 12 - 74 2) 1) [Motion path] [5] Teaching program example (1) Setting conditions (2) Program example Page 12.7.5 Target position change function [1] Details of control [2] Precautions during operation 12 - 79 [3] Method of setting target position change function from PLC CPU Fig. 12.42 Time chart for target position change f rom PLC CPU (2) The following shows the time chart for target position ch ange . Page 12.7.6 Command in-position function Page [3] Setting the command in-position function [4] Confirming the command in-position flag 12.7.7 Acceleration/deceleration processing function [1] "Acceleration/deceleration time 0 to 3" control details and setting Page Page 12.7.8 Pre-reading start function [1] Controls Page Page [2] Controlling instructions [3] Program examples 12 - 91 Pre-reading start function (when dedicated instruction PSTRT1 is used) 12.7.9 Deceleration start flag function [1] Control details 12 - 93 Fig. 12.52 Operation of deceleration start flag at block start Da.11 Da.13 [2] Precautions during control 12 - 95 [3] Deceleration start flag function setting method [4] Checking of deceleration start flag The "deceleration start flag" is stored into t he following buffer memory addresses. 12.7.10 Stop command processing for deceleration stop function (1) Deceleration curve re-processing (2) Deceleration curve continuation [1] Control (1) Deceleration curve re-processing (2) Deceleration curve continuation [2] Precautions for control [3] Setting method Chapter 13 Common Functions 13 - 2 13.1 Outline of common functions 13.2 Parameter initialization function [1] Parameter initialization means [4] Parameter initialization method 13.3 Execution data backup function [1] Execution data backup (written to flash ROM) means [4] Execution data backup method 13.4 External I/O signal logic switching function [1] Parameter setting details [2] Precautions on parameter setting 13.5 External I/O signal monitor function Chapter 14 Dedicated instructions 14 - 2 14.1 List of dedicated instructions 14.2 Interlock during dedicated instruction is executed 14 - 3 14.3 ABRST1, ABRST2, ABRST3, ABRST4 These dedicated instructions restore the abs olute position of the designated axis. 14 - 4 Page [Errors] [Precautions] [Program examples] 14 - 8 14.4 PSTRT1, PSTRT2, PSTRT3, PSTR T4 These dedicated instructions are used to star t the positioning of the designated axis. Page Page [Program examples] 14 - 12 14.5 TEACH1, TEACH2, TEACH3, TEACH4 These dedicated instructions are used to teac h the designated axis. Page Page 14 - 15 Program to execute the teaching of the positioni ng data No. 3 of the axis 1 when X39 is turned ON. 14 - 16 14.6 PFWRT Page Page 14 - 19 14 - 20 14.7 PINIT This dedicated instruction is used to initialize the setting dat a of th e QD75 . Page 14 - 22 The following program initializes the param eters in buffer memory and flash ROM when X3C turns ON. Page 15.1 Error and warning details [1] Errors Types of errors Error storage [2] Warnings Types of warnings Warning storage [3] Resetting errors and warnings [4] Invalid operations [5] Confirming the error and warning definitions Page 15 - 6 15.2 List of errors The following table shows the error details and remedies to be ta ken wh en an erro r occurs. 15 - 7 15 - 8 15 - 9 15 - 10 15 - 11 15 - 12 15 - 13 15 - 14 15 - 15 15 - 16 15 - 17 15 - 18 15 - 19 15 - 20 15 - 21 15 - 22 15 - 23 15 - 24 15 - 25 15 - 26 15 - 27 15 - 28 15 - 29 15 - 30 15 - 31 15 - 32 15.3 List of warnings The following table shows the warning details and remedie s to be ta ken when a warning occurs. 15 - 33 15 - 34 15 - 35 15 - 36 15 - 37 15 - 38 15.4 LED display functions QD75P4 RUN ERR AX1 AX2 AX3 AX4 Appendices Appendix - 2 (1) Function comparison (2) Additional buffer memory (3) Additional devices Page Page Page Appendix - 6 Appendix 2.2 Parameter setting value entry table Appendix - 7 Appendix - 8 Appendix - 9 Appendix - 10 Appendix - 11 Appendix - 12 Appendix 2.3 Positioning data setting value entry table [data No. to ] Appendix - 13 Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses Appendix - 14 Appendix - 15 Appendix - 16 Appendix - 17 Appendix - 18 Appendix - 19 Appendix - 20 Appendix - 21 Appendix - 22 Appendix - 23 Appendix - 24 Appendix - 25 Appendix - 26 Appendix - 27 Appendix - 28 Appendix - 29 Appendix - 30 Appendix - 31 Appendix - 32 Appendix - 33 Appendix - 34 Appendix - 35 Appendix - 36 Appendix - 37 Appendix - 38 Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A (Differential driver) 5 Appendix - 39 Appendix 4.3 Connection example of QD75D and MR-C A (Differential driver) 5 Appendix - 40 (5) 5:This indicates the distance between the QD75P and VEXTA UPD. Appendix - 41 (5) 5:This indicates the distance between the QD75D and MINAS-A. Appendix - 42 (5) 5:This indicates the distance between the QD75D and PYO. Appendix - 43 (5) 5:This indicates the distance between the QD75D and - . Appendix - 44 Appendix - 45 Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models (1) Comparisons of performance specifications Appendix - 46 Appendix - 47 : Possible, : Not possible (2) Function comparisons Functions added to those of A1SD75P1-S3/A1SD75P2-S3/A1 SD75P3-S3 Appendix - 48 Functions deleted from those of A1SD75P1-S 3/A1SD75P2-S3/A1SD75P3-S3 Functions changed from those of A1SD75P1-S3/ A1SD75P2-S3/A1SD75P3-S3 Appendix - 49 Appendix - 50 Error code comparisons Appendix - 51 Warning code comparisons (3) Input/output (X/Y) comparisons Appendix - 52 (4) Buffer memory address comparisons Appendix - 53 Appendix - 54 Appendix - 55 Appendix - 56 Buffer memory address A1SD75 QD75 Items of A1SD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 amount value (QD75: Md. 41 Special start repetition counter) 834 934 1034 832 932 1032 Appendix - 57 Appendix - 58 Appendix - 59 Appendix - 60 (5) Data indication No. comparisons Appendix - 61 Appendix - 62 Monitor data Appendix - 63 Appendix - 64 Control data Appendix - 65 Appendix - 66 Positioning data, block start data, conditio n data : Called "block start data" with the QD75. Appendix - 67 (6) Input/output signal comparisons Input signal comparisons Output signal comparisons Appendix 10 MELSEC Explanation of positioning terms 1-2 PHASE EXCITATION SYSTEM 2-PHASE EXCITATION SYSTEM 2-PHASE PULSE 2-SPEED TRAPEZOIDAL CONTROL ABSOLUTE ENCODER ABSOLUTE POSITION DETECTION SYSTEM ABSOLUTE SYSTEM ACCELERATION TIME ADDRESS AUTO TUNING (Automatic Tuning) AUTOMATIC TRAPEZOIDAL ACCELERATION/DECELERATION BACKLASH COMPENSATION BACKUP FUNCTION BALL SCREW BCD (Binary Coded Decimal) BIAS SPEED AT START BIN (Binary) BIPOLAR DRIVE CONSTANT-CURRENT SYSTEM BUFFER MEMORY BUSY CCW (Counterclockwise) CHANGE signal CP CONTROL (Continuous Path Control) CREEP SPEED CURRENT FEED VALUE CURRENT LOOP MODE CURRENT VALUE DECELERATION TIME DEVIATION COUNTER DIFFERENTIAL OUTPUT TYPE DIGITAL BUS CONNECTION DOG SIGNAL DROOP PULSE DWELL TIME DYNAMIC BRAKE ELECTROMAGNETIC BRAKE ELECTRONIC GEAR ERROR CORRECTION ERROR RESET EXTERNAL REGENERATIVE BRAKE RESISTOR F FAST OPR FIXED-FEED FLASH MEMORY FLAT TYPE MOTOR (PANCAKE MOTOR) FLS SIGNAL (forward limit signal) G CODE INCREMENTAL ENCODER INCREMENTAL SYSTEM INERTIA INPUT TERMINAL INTERLOCK INTERPOLATION OPERATION INVERTER JOG LINEAR INTERPOLATION LOAD INERTIA RATIO LOW-INERTIA MOTOR M CODE (Machine Code) MACHINE FEED VALUE MOVEMENT AMOUNT PER PULSE MULTI-PHASE PULSE MULTIPLYING RATE SETTING NC LANGUAGE (Numerical Control Language) NEAR-POINT DOG OP OP SHIFT FUNCTION OPERATION PATTERN OPR METHOD OPR PARAMETER OPR REQUEST OUTPUT TERMINAL OVERRIDE FUNCTION P RATE (Pulse Rate) PARAMETER POSITION CONTROL POSITION DETECTION MODULE POSITION LOOP GAIN POSITION LOOP MODE POSITIONING POSITIONING CONTINUED POSITIONING DATA POSITIONING PARAMETER POSITIONING START PTP Control (Point To Point Control) Page SERVO LOCK SERVO ON SERVOMOTOR SETTING UNIT SFC (Sequential Function Chart) SPEED CONTROL SPEED INTEGRAL COMPENSATION SPEED LIMIT VALUE SPEED LOOP GAIN SPEED LOOP MODE STEP OUT STEPPING MOTOR STOP SETTLING TIME STOP SIGNAL STOP WITH STOPPER STROKE LIMIT SUDDEN STOP TEACHING TORQUE CONTROL TORQUE LOOP MODE TURNTABLE UNIT SETTING WARNING WINDOW WITH MODE Appendix 11 Positioning control troubleshooting Appendix - 93 Appendix - 94 "Pr.47 Creep speed". Appendix - 95 Appendix - 96 Appendix - 97 Appendix - 98 Appendix 12 List of buffer memory addresses Appendix - 99 Appendix - 100 Appendix - 101 Appendix - 102 Appendix - 103 Appendix - 104 Appendix - 105 Appendix - 106 Appendix - 107 Appendix 13 External dimension drawing [1] QD75P1/QD75P2/QD75P4 Appendix - 108 [2] QD75D1/QD75D2/QD75D4 INDEX [Number] [A] [B] [C] [D] [E] [F] [G] [H] [I] [J] [K] [L] [M] [N] [O] [P] [Q] [R] [S] Page [T] [U] [V] [W] [X] [Z] Page WARRANTY 1. Gratis Warranty Term and Gratis Warranty Range [Gratis Warranty Term] [Gratis Warranty Range] 2. Onerous repair term after discontinuation of production