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
15 - 13