实实操Type QD75MH Positioning ModuleMITSUBISHIUser's ManualChanges for the Better(Details)册下载：到实操派学PLC就是快I实操派文库一最全的工业自动化手册下载：到“实操派学PLC就是快IMitsubishi ProgrammableLogic ControllerQD75MH1MELSEC-QQD75MH2QD75MH4实操派文库实操派文库最全的工·SAFETY INSTRUCTIONS·(Always read these instructions before using this equipment.)Before using this product,please read this manual and the relevant manuals introduced in this manualcarefully and pay full attention to safety to handle the product correctly.最全的工业自动化手册下The instructions given in this manual are concerned with this product For the safety instructions of theprogrammable logic controller system,please read the CPU module User's ManualIn this manual,the safety instructions are ranked as "DANGER"and "CAUTION".DANGERIndicates that incorrect handling may cause hazardous conditions,resulting in death or severe injury.个CAUTIONIndicates that incorrect handling may cause hazardous conditionsresulting in medium or slight personal injury or physical damage.Note that the CAUTION level may lead to a serious consequence according to the circumstances.Always follow the instructions of both levels because they are important to personal safety.Please save this manual to make it accessible when required and always forward it to the end user.[Design Instructions]◇DANGERProvide a safety circuit outside the programmable logic controller so that the entire system willoperate safely even when an external power supply error or PLC fault occurs.Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.limit/lower limit to prevent mechanical damage outside the PLC.(2)The machine OPR operation is controlled by the OPR direction and OPR speed data.Deceleration starts when the near-point dog tums ON.Thus,if the OPR direction isincorrectly set,deceleration will not start and the machine will continue to travel.Configurean interlock circuit to prevent mechanical damage outside the PLC.化手册下(3)When the module detects an error,nommally deceleration stop or sudden stop will takeplace according to the parameter stop group settings.Set the parameters to the positioningsystem specifications.Make sure that the OPR parameter and positioning data are within the parameter settingvalues.是快A-1实操派文实操派文库[Design Instructions]△CAUTIONDo not bundle or adjacently lay the external input signal cable of the QD75MH or SSCNETIcable with the main circuit or power wire.Separate these by 100mm(3.94in.)or more.Failure to observe this could lead to malfunctioning caused by noise.[Mounting Instructions]△CAUTIONUse the PLC within the general specifications environment given in the CPU module User'sManual to use.Using the PLC outside the general specification range environment could lead to electricshocks,fires,malfunctioning,product damage or deterioration.While pressing the installation lever located at the bottom of module,insert the module fixingtab into the fixing hole in the base unit until it stops.Then,securely mount the module with thefixing hole as a supporting point.Incorrect loading of the module can cause a malfunction,failure or drop.When using the module in the environment of much vibration,tighten the module with a screw.Tighten the screws within the specified torque range.Undertightening can cause a drop,short circuit or malfunction.Overtightening can cause a drop,short circuit or malfunction due to damage to the screws ormodule.Completely tum off the externally supplied power used in the system before installing orremoving the module.Not doing so may damage the product.Touching the conductive parts and electronic ponents of the module could cause anoperation failure or give damage to the module.Make sure that the connectors for the servo amplifier and peripheral devices have beensecurely installed until a click is heard.Not doing so could lead to a poor connection,resulting in erroneous input and output.化手册下载When the servo amplifier is not installed,install the connector cover without fail.Failure to observe this could lead to a malfunction.[Wiring Instructions]①DANGERCompletely tum off the externally supplied power used in the system before installing or placingwiring.Not doing so may cause electric shock or damage to the productA-2实操派文实操派文库[Wiring Instructions]最全CAUTIONCheck the layout of the terminals and then properly route the wires to the module.Solder connector for extemal input signal cable properly.Be careful not to let foreign matter such as sawdust or wire chips get inside the module.These may cause fires,failure or malfunction.The top surface of the module is covered with protective films to prevent foreign objects such ascable off cuts from entering the module when wiring.Do not remove this film until the wiring is plete.Before operating the system,be sure to remove the film to provide adequate ventilation.When removing the cable or power supply cable from the module,do not pull the cable.Whenremoving the cable with a connector,hold the connector on the side that is connected to themodule.Pulling the cable that is still connected to the module may cause malfunction or damage to themodule or cable.The cable used for connecting the QD75MH extemal input signal cable and SSCNET II cableshould not be routed near or bundled with the main circuit cable,power cable and/or other suchload carrying cables other than those for the PLC.These cables should be separated by atleast 100mm(3.94inch).They can cause electrical interference,surges and inductance that canlead to mis-operation.When pulling out SSCNET II cable from SSCNET III connector,be sure to put the cap oninterrupted and it may cause malfunctions.QD75MH.When the light gets into eye,may feel something is wrong for eye.(The light source of SSCNET II corresponds to class1 defined in JISC6802 or IEC60825-1.)白If SSCNET II cable is added a power such as a major shock,lateral pressure,haul,suddenbending or twist,its inside distorts or breaks,and optical transmission will not be available.SSCNET II cable should be given loose slack to avoid from being smaller than the化手册minimum bend radius,and it should not be twisted.manual.The optical cable and code part melts down if being left near the fire or hightemperature.Therefore,do not make it touched the part which bees high temperature,such as radiatoror regenerative brake option of servo amplifier,or servomotor.A-3实操派文实操派文库[Wiring Instructions]最全CAUTIONMake sure to lay SSCNET I cable with greater radius than the minimum bend radius.Fix the optical cable at the closest part to the connector with bundle material in order to prevent手册下SSCNET II cable from putting its own weight on SSCNET II connector.Never use vinyl tape for optical cord.Plasticizing material in vinyl tape goes into optical fiberand lowers the optical characteristic.At worst,it may cause wire breakage.If using adhesivetape for the optical cable laying,the fire resistant acetate cloth adhesive tape 570F (TeraokaSeisakusho Co.,Ltd)is remended.If laying with other wires,do not make the optical cable touched wires or cables made from softpolyvinyl chloride(PVC),polyethylene resin (PE),teflon(Fluorocarbon resin)or nylon whichcontains plasticizing material.If the adhesion of solvent and oil to the code part of SSCNET II cable may lower the opticalcharacteristic and machine characteristic.If it is used such an environment,be sure to do theprotection measures to the optical cord.When storing.put a cap on the connector part for preventing the connector edge of SSCNETIIfrom getting dirt,dust and so on.SSCNETI connector is put a cap to protect light device inside connector from dust.For this reason,do not remove a cap until just before mounting SSCNET II cable.Then,when removing SSCNET II cable,make sure to put a cap.Keep the cap for SSCNET II connector and the tube for protecting light code end of SSCNET.When changing the servo amplifier or QD75MH,make sure to put cap on SSCNETIconnector.When asking repair of servo amplifier for some troubles,make sure to put a cap onSSCNETⅢconnector..When the connector is not put a cap,the light device may be damaged at the transit.全的工业In this case,exchange and repair of light device is required.学PLC就是快A-4实操派文实操派文库[Startup/Maintenance Instructions]DANGER全的Completely tum off the externally supplied power used in the system before clearing ortightening the screws.Not doing so may cause electric shocks.[Startup/Maintenance Instructions]CAUTIONNever disassemble or modify the module.Failure to observe this could lead to trouble,malfunctioning,injuries or fires.Completely tum off the externally supplied power used in the system before installing orremoving the module.Not doing so may cause an operation failure or damage to the module.Before starting test operation,set the parameter speed limit value to the slowest value,andmake sure that operation can be stopped immediately if a hazardous state occurs.Always make sure to touch the grounded metal to discharge the electricity charged in the body,etc.,before touching the module.Failure to do so may cause a failure or malfunctions of the module.[Precautions for use]CAUTION实.Note that when the reference axis speed is designated for interpolation operation,the speed ofthe partner axis(2nd axis,3rd axis and 4th axis)may be larger than the set speed(larger thanthe speed limit value).[Disposal Instructions]When you discard QD75MH,servo amplifier,a battery(primary battery)and other option articles,please follow化the law of each country(area).册到CAUTIONThis product is not designed or manufactured to be used in equipment or systems in situationsthat can affect or endanger human life.When considering this product for operation in special applications such as machinery orsystems used in passenger transportation,medical,aerospace,atomic power,electric power,or submarine repeating applications,please contact your nearest Mitsubishi salesrepresentative.Although this product was manufactured under conditions of strict quality control,you arestrongly advised to install safety devices to forestall serious accidents when it is used in facilitieswhere a breakdown in the product is likely to cause a serious accident.A-5实操派文实操派文VISIONSThe manual number is given on the bottom left of the back cover.Print DateManual NumberRevisionMay,2005IB(NA)0300117-AFirst edition动化手册下载：到"实操派学PLC就是快I实操入文库一最全的工、动化手册下载：到"实操派实操派文库一最全的工业自化手册下载全Japanese Manual Version IB-0300098This manual confers no industrial property rights or any rights of any other kind,nor does it confer any patent licensesMitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights whichmay occur as a result of using the contents noted in this manual.2005 MITSUBISHI ELECTRIC CORPORATIONA-6实操派文库实操派文库最INTRODUCTION的Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-Q Series.Always read through this manual,and fully prehend the functions and performance of the Q Series PLCbefore starting use to ensure correct usage of this product.自动化手册下载到CONTENTSSAFETY INSTRUCTIONS.A-1.A-6INTRODUCTION......CONTENTS.......A-14Using This Manual...….A-14Conformation to the EMC Directive.......A-14Generic Terms and Abbreviations........A-15.A-15Section 1 Product Specifications and Handling1.Product Outline1-1to1-281.1 Positioning control.......1-21.1.1 Features of QD75MH.....实操.1-21.1.2 Purpose and applications of positioning control.1.1.3 Mechanism of positioning control ..............1-71.1.4 Overview of positioning control functions..1-81.1.5 Outline design of positioning system......1-181.1.6 Communicating signals between QD75MH and each module1191.2 Flow of system operation.1221.2.1 Flow of all processes.1-221.2.2 Outline of starting.....1-241.2.3 Outline of stopping.1-261.2.4 Outline for restarting.1-28册2.System Configuration21to2-82.1 General image of system......2-22.2 Component list..….2-42.3 Applicable system......2-62.4 How to check the function version and SERIAL No..2-83.Specifications and Functions31to3243.1 Performance specifications.....323.2 List of functions...3-43.2.1 QD75MH control functions.3-43.2.2 QD75MH main functions..3-6A-7实操派文实操派文库3.2.3 QD75MH sub functions and mon functions .................3.2.4 Combination of QD75MH main functions and sub functions....23123.3.2 Details of input signals(QD75MH-PLC CPU)..3153.3.3 Details of output signals (PLC CPU-QD75MH).................3173.4 Specifications of interfaces with extemnal devices..............人3183.4.1 Electrical specifications of input signals........3.4.2 Signal layout for extemal device connection connector.3.4.3 List of input signal details.3203.5 External circuit design........3-224.Installation,Wiring and Maintenance of the Product41to4184.1 Outline of installation,wiring and maintenance..4-24.1.1 Installation,wiring and maintenance procedures.4.12 Names of each part.……4-34.1.3 Handling precautions4.2 Installation.…4.2.1 Precautions for installation............4.3.1 Precautions for wiring............4104.4 Confirming the installation and wiring....416实操4.4.1 Items to confirm when installation and wiring are pleted4.5 Maintenance..….4174.5.1 Precautions for maintenance..........4175.Data Used for Positioning Control (List of buffer memory addresses)5-1to5-1725.1 Types of data.….5-25.1.1 Parameters and data required for control......5.1.2 Setting items for positioning parameters.5-65.1.3 Setting items for OPR parameters...........5.1.4 Setting items for servo parameters..5-95.1.5 Setting items for positioning data...5-115.1.6 Setting items for block start data.....5.1.7 Setting items for condition data5-155.1.8 Types and roles of monitor data..5.1.9 Types and roles of control data52 List of parameters….5.2.1 Basic parameters 1............5-245.2.2 Basic parameters 2......5-285.2.3 Detailed parameters 1................5305.2.4 Detailed parameters 2..............5.2.5 OPR basic parameters......5-505.2.6 OPR detailed parameters.............5-56A-8实操派文库实操派文库5.2.7 Servo parameters (Basic setting).........5.2.8 Servo parameters(Gain.filter setting)5.2.9 Servo parameters (Expansion setting)........5.2.10 Servo parameters (Input/Output setting).......5.3 List of positioning data5-905.4 List of block start data5-1065.List of condition data.5-1125.6 List of monitor data........5-1185.6.1 System monitor data5-1185.6.2 Axis monitor data.5-1285.7 List of control data.........5-1485.7.1 System control data5-1485.7.2 Axis control data....5-1506.Sequence Program Used for Positioning Control61to6-726.1 Precautions for creating program.6.2 List of devices used6.3 Creating a program.....6-156.3.1 General configuration of program....6.3.2 Positioning control operation program...6166.4 Positioning program examples............6-206.5 Program details….6-526.5.1 Initialization program.实操6.5.2 Start details setting program.........6-536.5.3 Start program………6-556.5.4 Continuous operation interrupt program.6-646.5.5 Restart program……6.5.6 Stop program…6-697.Memory Configuration and Data Process7-1to7-207.1 Configuration and roles of QD75MH memory.........7-27.1.1 Configuration and roles of QD75MH memory.7-27.1.2 Buffer memory area configuration...7-5册7.2 Data transmission process学PLC就是快A-9实操派文实操派文库Section 2 Control Details and Setting8.OPR Control8.1 Outline of OPR control人8.1.1 Two types of OPR control.8-28.2 Machine OPR..8-58.2.1 Outline of the machine OPR operation...8-58.2.2 Machine OPR method.................8-68.2.3 OPR method (1):Near-point dog method.8-78.2.4 OPR method (2):Count method 1).............8-98.2.5 OPR method(3):Count method 2).8-118.2.6 OPR method(4):Data set method..8-138.3 Fast OPR…8.3.1 Outline of the fast OPR operation...8-148.4 Selection of OPR set condition.8168.4.1 Outline of the selection of OPR set condition.8169.Major Positioning Control9-1to9-1169.1 Outline of major positioning controls.......9-29.1.1 Data required for major positioning control............9-49-59.1.3 Designating the positioning address.....9159.1.4 Confirming the current value.............9.1.5 Control unit"degree"handling......9.1.6 Interpolation control........9.2 Setting the positioning data ...9.2.1 Relation between each control and positioning data.9259.2.2 1-axis linear control.........9279.2.3 2-axis linear interpolation control....9.2.4 3-axis linear interpolation control.............9339.2.5 4-axis linear interpolation control...9-399.2.6 1-axis fixed-feed control...........9449.2.7 2-axis fixed-feed control (interpolation)..9-469.2.8 3-axis fixed-feed control (interpolation)..9.2.9 4-axis fixed-feed control (interpolation)....9529.2.10 2-axis circular interpolation control with sub point designation..9549.2.11 2-axis circular interpolation control with center point designation.9609.2.12 1-axis speed control......9689.2.13 2-axis speed control.9719.2.14 3-axis speed control..9749.2.15 4-axis speed control.....9.2.16 Speed-position switching control (INC mode).9839.2.17 Speed-position switching control(ABS mode).9.2.18 Position-speed switching control.........9.2.19 Current value changing............9-106A-10实操派文实操派文9.2.20 NOP instruction.......9-1119.221 JUMP instruction............9-1149.2.23LEND9-11510.High-Level Positioning Control10-1to10-2610.1 Outline of high-level positioning control ........10-210.1.1 Data required for high-level positioning control.......10-310.1.2"Block start data"and "condition data"configuration10.2 High-level positioning control execution procedure...10.3 Setting the block start data10.3.1 Relation between various controls and block start data.10-710.3.2 Block start(normal start)10-810.3.3 Condition start..10-1010-1110.3.5 Simultaneous start ........10-1210.3.6 Repeated start (FOR loop).......10-1310.3.7 Repeated start (FOR condition)....................10-1410.3.8 Restrictions when using the NEXT start......10-1510.4 Setting the condition data..10-1610.4.1 Relation between various controls and the condition data........10-1610.4.2 Condition data setting examples........10-1910-2010.6 Start program for high-level positioning control .......10-2310.6.1 Starting high-level positioning control....10-2310.6.2 Example of a start program for high-level positioning control10-2411.Manual Control11-1to11-3611.1 Outline of manual control........11-211.1.1 Three manual control methods.11-211-411.2.2 JOG operation execution procedure ....11-711.2.3 Setting the required parameters for JOG operation....11-811.2.4 Creating start programs for JOG operation.....11-1011.2.5 JOG operation example..........11-1311.3 Inching operation..11-1711.3.1 Outline of inching operation....11-1711.3.2 Inching operation execution procedure.11-2011.3.3 Setting the required parameters for inching operation....11-2111.3.4 Creating a program to enable/disable the inching operation.11-2211.3.5 Inching operation example.11-2511.4 Manual pulse generator operation........11-2711.4.2 Manual pulse generator operation execution procedure.............11-3111.4.3 Setting the required parameters for manual pulse generator operation.....11-3211.4.4 Creating a program to enable/disable the manual pulse generator operation....................11-33A-11实操实操派文12.Control Sub Functions12-1to12-10612.1 Outline of sub functions....12-212.1.1 Outline of sub functions12-212.2 Sub functions specifically for machine OPR12-412.2.1 OPR retry function12-412.2.2 OP shift function12-812.3 Functions for pensating the control12-11册下12.3.1 Backlash pensation function.12-1312.3.3 Near pass function .....12-2012.4 Functions to limit the control12-2312.4.1 Speed limit function.12-2312.4.2 Torque limit function.....12-2512.4.3 Software stroke limit function.....12-2912.4.4 Hardware stroke limit function.12-3512.4.5 Forced stop function...........12-3912.5 Functions to change the control details....12-4212.5.1 Speed change function..............12-4212.5.2 Override function......12-4912.5.3 Acceleration/deceleration time change function.12-5212.5.4 Torque change function.12-5612.6 Absolute position system....12-5912.7 Other functions.12.7.1 Step function.12-61实操派12.7.2 Skip function.......12-6612.7.3 M code output function.............-ssm-m12.7.4 Teaching function..……12.7.5 Target position change function .........127912.7.6 Command in-position function.........12-8312.7.7 Acceleration/deceleration processing function.12.7.8 Pre-reading start function.12-8912.7.9 Deceleration start flag function.......12-9412.7.10 Stop mand processing for deceleration stop function...12-9812.7.11 Speed control 10 x multiplier setting for degree axis function1210112.7.12 Operation setting for inpletion of OPR function12-103人12.8 Servo ON/OFF..12-10512.8.1 Servo ON/OFF........12-10512.8.2 Follow up function12-10613.Common Functions131to13-813.1 Outline of mon functions ............13-213.2 Parameter initialization function......13-313.3 Execution data backup function.........13-513.4 External signal selection function......13.5 Extemal VO signal logic switching function13-8A-12实操派文库实操派文库14.Dedicated Instructions141to141814.1 List of dedicated instructions.......14-214.2 Interlock during dedicated instruction is executed14-214.3PSTRT1,PSTRT2,PSTRT3,PSTRT4.......14-3册14.4 TEACH1,TEACH2,TEACH 3,TEACH 4..14-714.5 PFWRT…141515.Troubleshooting15-1to15-6015-615.2.1 QD75MH detection error.15-615.2.2 MR-J3-B detection error...........15-3615.3 List of warnings....15-5015.3.1 QD75MH detection waming.15-5015.3.2 MR-J3-B detection warning ......15.4 LED display functions...15-60AppendicesAppendix-1 to Appendix-72Appendix 1 Functions.......Appendix-3Appendix 1.1 Multiple CPU correspond function........Appendix-3实操Appendix 1.2 The bination of software package for QD75MH and QCPU............Appendix-3Appendix 2 Positioning data (No.1 to 600)List of buffer memory addresses...........Appendix-4Appendix 3 Connection with servo amplifiersAppendix-28Appendix 3.1 Connection of SSCNETII cables........Appendix-28Appendix 3.2 Wiring of SSCNETI cables...........Appendix-30Appendix 4 Connection with external device connector......Appendix-34Appendix 4.1 Connector..Appendix-34Appendix 4.2 Wiring of manual pulse generator cableAppendix-36Appendix 5 Comparisons with conventional positioning modules..............Appendix-37Appendix 5.1 Comparisons with QD75P model.........Appendix-37册Appendix 5.2 Comparisons with QD75M1/QD75M2/QD75M4 models ...............Appendix-38Appendix 6 Positioning control troubleshooting........Appendix-51Appendix 7 List of buffer memory addresses.......Appendix-57Appendix 8 External dimension drawing .........Appendix-71INDEXIndex-1to Index-10INDEX.....Index -1A-13实操派About ManualsThe following manuals are also related to this product.In necessary,order them by quoting the details in the tables below.Related Manuals实操派文库一最全的工业自动化手册下载Manual NumberManual Name(Model Code)Type QD75MH Positioning Module User's Manual (Hardware)Describes the perfommance,specifications,Input interface,ponent names,and startup procedure ofIB-0300099the res pective positioning modules:Type QD75MH(1XB909)(The manual is supplied with the module.)GX Configurator-QP Operating ManualDescribes how to use GX Configurator-OP for the following and other purposes:creating dataSH-080172(parameters,positioning data,etc.),sending the data to the module,monitoring the positioning(13JU19operations,and testing.(The manual is supplied with the software.)Using This ManualThe symbols used in this manual are shown below.Pr.Symbol indicating positioning parameter and OPR parameter itemSymbol indicating positioning data,block start data and conditiondata item.实操派文库Symbol indicating monitor data item.Cd.Symbol indicating control data item.操派文最全(A serial No.is inserted in the mark.)Conformation to the EMC Directive自动化手The CE logo is printed on the rating plate on the main body of the PLC thatconforms to the EMC directive instruction.最全的工业自动化手册下To make this product conform to the EMC directive instruction,please refer tosection 4.3.1 "Precautions for wiring"of the chapter 4"Installation,Wiring andMaintenance of the Product"and the EMC Installation Guidelines(IB(NA)67339).Representation of numerical values used in this manual.Buffer memory addresses,error codes and waming codes are represented indecimal.X/Y devices are represented in hexadecimal.Setting data and monitor data are represented in decimal or hexadecimal.Dataended by"H"or"h"are represented in hexadecimal.(Example)10.........Decimal10H......HexadecimalA-14