Mitsubishi Electric MELSEC-QD77GF16 Manuals

Manuals and User Guides for Mitsubishi Electric MELSEC-QD77GF16. We have 2 Mitsubishi Electric MELSEC-QD77GF16 manuals available for free PDF download: User Manual

Mitsubishi Electric MELSEC-QD77GF16 User Manual (834 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 5.8 MB

Safety Precautions
3
Introduction
16
Revisions
17
Table of Contents
18
Compliance with the Emc and Low Voltage Directives
25
Relevant Manuals
25
Terms
28
Packing List
29
Features of QD77GF
34
Positioning Control
34
Purpose and Applications of Positioning Control
37
Mechanism of Positioning Control
39
Overview of Positioning Control Functions
40
Outline Design of Positioning System
50
Communicating Signals between QD77GF and each Module
51
Flow of All Processes
54
Flow of System Operation
54
Outline of Starting
56
Outline of Stopping
58
Outline for Restarting
60
General Image of System
62
Component List
63
Applicable System
65
How to Check the Function Version and SERIAL no
67
Restrictions by the SERIAL No. and Version
68
Performance Specifications
70
List of Functions
72
QD77GF Control Functions
72
QD77GF Main Functions
75
QD77GF Sub Functions
77
QD77GF Common Functions
79
Combination of QD77GF Main Functions and Sub Functions
80
List of Input/Output Signals with PLC CPU
82
Specifications of Input/Output Signals with PLC CPU
82
Details of Input Signals (Simple Motion Module PLC CPU)
83
Electrical Specifications of Input Signals
86
Specifications of Interfaces with External Devices
86
Signal Layout for External Input Connection Connector
88
List of Input Signal Details
90
Interface Internal Circuit
92
External Circuit Design
98
Installation, Wiring and Maintenance Procedures
104
Outline of Installation, Wiring and Maintenance
104
Names of each Part
105
Handling Precautions
108
Installation
110
Precautions for Installation
110
Precautions for Wiring
111
Wiring
111
Precautions for Wiring
112
Confirming the Installation and Wiring
119
Items to Confirm When Installation and Wiring Are Completed
119
Disposal Instructions
120
Maintenance
120
Precautions for Maintenance
120
Parameters and Data Required for Control
122
Types of Data
122
Setting Items for Positioning Parameters
125
Setting Items for HPR Parameters
127
Setting Items for Expansion Parameters
128
Setting Items for Servo Parameters
128
Setting Items for Positioning Data
129
Setting Items for Block Start Data
130
Setting Items for Condition Data
131
Types and Roles of Monitor Data
132
Types and Roles of Control Data
136
Basic Parameters 1
140
List of Parameters
140
Basic Parameters 2
146
Detailed Parameters 1
147
Detailed Parameters 2
158
HPR Basic Parameters
170
HPR Detailed Parameters
176
Expansion Parameters
181
Servo Parameters
183
List of Positioning Data
184
List of Block Start Data
200
List of Condition Data
204
List of Monitor Data
210
System Monitor Data
210
Axis Monitor Data
224
List of Control Data
250
System Control Data
250
Axis Control Data
254
Precautions for Creating Program
284
List of Devices Used
287
Creating a Program
298
General Configuration of Program
298
Positioning Control Operation Program
299
Positioning Program Examples [RJ010 Mode]
303
Initialization Program
335
Program Details
335
Start Details Setting Program
336
Start Program
338
Continuous Operation Interrupt Program
350
Restart Program
352
Stop Program
355
Configuration and Roles of QD77GF Memory
360
Buffer Memory Area Configuration
363
Data Transmission Process
365
Outline of HPR Control
378
Two Types of HPR Control
378
Machine HPR
381
Outline of the Machine HPR Operation
381
Machine HPR Method
383
HPR Method (1): Proximity Dog Method [RJ010 Mode]
384
HPR Method (2): Count Method 1) [RJ010 Mode]
386
HPR Method (3): Count Method 2) [RJ010 Mode]
388
HPR Method (4): Data Set Method [RJ010 Mode]
390
HPR Method (5): Scale Origin Signal Detection Method [RJ010 Mode]
391
HPR Method (6): Driver HPR Method [Cia402 Mode]
394
Fast HPR
397
Outline of the Fast HPR Operation
397
Outline of the HPR Setting Condition
399
Selection of the HPR Setting Condition
399
Outline of Major Positioning Controls
402
Data Required for Major Positioning Control
404
Operation Patterns of Major Positioning Controls
405
Designating the Positioning Address
415
Confirming the Current Value
416
Control Unit "Degree" Handling
418
Interpolation Control
421
Setting the Positioning Data
422
Relation between each Control and Positioning Data
426
Setting the Positioning Data
426
1-Axis Linear Control
428
2-Axis Linear Interpolation Control
432
3-Axis Linear Interpolation Control
437
4-Axis Linear Interpolation Control
443
1-Axis Fixed-Feed Control
446
2-Axis Fixed-Feed Control (Interpolation)
449
3-Axis Fixed-Feed Control (Interpolation)
451
4-Axis Fixed-Feed Control (Interpolation)
456
2-Axis Circular Interpolation Control with Sub Point Designation
459
2-Axis Circular Interpolation Control with Center Point Designation
465
1-Axis Speed Control
473
2-Axis Speed Control
476
3-Axis Speed Control
480
4-Axis Speed Control
484
Speed-Position Switching Control (INC Mode)
489
Speed-Position Switching Control (ABS Mode)
499
Position-Speed Switching Control
508
Current Value Changing
517
NOP Instruction
522
JUMP Instruction
523
Loop
525
Lend
527
High-Level Positioning Control 10- 1 to
529
Outline of High-Level Positioning Control
530
Data Required for High-Level Positioning Control
531
Block Start Data" and "Condition Data" Configuration
532
High-Level Positioning Control Execution Procedure
534
Relation between Various Controls and Block Start Data
535
Setting the Block Start Data
535
Block Start (Normal Start)
536
Condition Start
538
Wait Start
539
Simultaneous Start
540
Repeated Start (for Loop)
541
Repeated Start (for Condition)
542
Restrictions When Using the NEXT Start
543
Relation between Various Controls and the Condition Data
544
Setting the Condition Data
544
Condition Data Setting Examples
546
Multiple Axes Simultaneous Start Control
547
Start Program for High-Level Positioning Control
550
Starting High-Level Positioning Control
550
Example of a Start Program for High-Level Positioning Control
551
Outline of Manual Control
556
Three Manual Control Methods
556
JOG Operation
558
Outline of JOG Operation
558
JOG Operation Execution Procedure
561
Setting the Required Parameters for JOG Operation
562
Creating Start Programs for JOG Operation
564
JOG Operation Example
566
Inching Operation
569
Outline of Inching Operation
569
Inching Operation Execution Procedure
572
Setting the Required Parameters for Inching Operation
573
Creating a Program to Enable/Disable the Inching Operation
574
Inching Operation Example
576
Manual Pulse Generator Operation
578
Outline of Manual Pulse Generator Operation
578
Manual Pulse Generator Operation Execution Procedure
582
Setting the Required Parameters for Manual Pulse Generator Operation
583
Creating a Program to Enable/Disable the Manual Pulse Generator Operation
584
Outline of Speed-Torque Control
588
Speed-Torque Control
588
Setting the Required Parameters for Speed-Torque Control
589
Setting the Required Data for Speed-Torque Control
590
Operation of Speed-Torque Control
591
Synchronous Control
604
Control Sub Functions 13- 1 to
605
Outline of Sub Functions
606
HPR Retry Function [RJ010 Mode]
608
Sub Functions Specifically for Machine HPR
608
HP Shift Function [RJ010 Mode]
612
Backlash Compensation Function
615
Functions for Compensating the Control
615
Electronic Gear Function
617
Near Pass Function
625
Functions to Limit the Control
627
Speed Limit Function
627
Torque Limit Function
629
Software Stroke Limit Function
634
Hardware Stroke Limit Function
641
Forced Stop Function
645
Functions to Change the Control Details
648
Speed Change Function
648
Override Function
655
Acceleration/Deceleration Time Change Function
658
Torque Change Function
663
Target Position Change Function
667
Absolute Position System
671
Other Functions
673
Step Function
673
Skip Function
678
M Code Output Function
682
Teaching Function
686
Command In-Position Function
692
Acceleration/Deceleration Processing Function
695
Pre-Reading Start Function
698
Deceleration Start Flag Function
700
Stop Command Processing for Deceleration Stop Function
703
Speed Control 10 X Multiplier Setting for Degree Axis Function
706
Operation Setting for Incompletion of HPR Function
708
Servo ON/OFF
710
Follow up Function
712
Outline of Common Functions
714
Parameter Initialization Function
715
Execution Data Backup Function
717
External Signal Selection Function
719
External I/O Signal Logic Switching Function
724
History Monitor Function
726
Virtual Servo Amplifier Function
730
Mark Detection Function
733
Module Error Collection Function
744
List of Dedicated Instructions
746
Checking Errors Using GX Works2
748
Troubleshooting
751
Error and Warning Details
752
List of Errors
758
List of Warnings
790
Appendix 1 List of Buffer Memory Addresses

802
Appendix 2 Connection with Servo Amplifiers

814
Appendix 3 Connection with External Device

817
Appendix 3.1 Connector

817
Appendix 3.2 External Input Signal Cable

820
Appendix 3.3 Manual Pulse Generator (MR-HDP01)

826
Appendix 4 When Using GX Works2

827
Appendix 5 External Dimension Drawing

828

Mitsubishi Electric MELSEC-QD77GF16 User Manual (238 pages)

Simple Motion Module

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

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

34
Chapter 2 Input Axis Module

50
Chapter 3 Cam Function

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

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

170
Chapter 6 Troubleshooting (Synchronous Control)

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

218
Appendix 1 Comparisons with the Motion Controller SV22

218
Appendix 2 Sample Program of Synchronous Control

222
Appendix 3 Lists of Buffer Memory Addresses for Synchronous Control

226

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Mitsubishi Electric MELSEC-QD77GF16 Manuals

Mitsubishi Electric MELSEC-QD77GF16 User Manual (834 pages)

Table of Contents

Appendix 1 List of Buffer Memory Addresses

Appendix 2 Connection with Servo Amplifiers

Appendix 3 Connection with External Device

Appendix 3.1 Connector

Appendix 3.2 External Input Signal Cable

Appendix 3.3 Manual Pulse Generator (MR-HDP01)

Appendix 4 When Using GX Works2

Appendix 5 External Dimension Drawing

Mitsubishi Electric MELSEC-QD77GF16 User Manual (238 pages)

Table of Contents

Chapter 1 Outline of Synchronous Control

Chapter 2 Input Axis Module

Chapter 3 Cam Function

Chapter 4 Synchronous Control

Chapter 5 Synchronous Control Initial Position

Chapter 6 Troubleshooting (Synchronous Control)

Appendix- 1 to Appendix-18

Appendix 1 Comparisons with the Motion Controller SV22

Appendix 2 Sample Program of Synchronous Control

Appendix 3 Lists of Buffer Memory Addresses for Synchronous Control

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