实例介绍
【实例简介】三菱Qd&5D系列定位模块手册全
【实例截图】
【核心代码】
目录
·安全注意事项 ···································· A- 1
·关于产品的应用 ··································· A- 5
·修订记录 ······································ A- 6
·前言 ········································ A- 7
·目录 ········································ A- 7
·关于手册 ······································ A-15
·手册的阅读方法 ··································· A-15
·与EMC指令·低电压指令的对应 ···························· A-16
·关于总称·略称·术语 ································ A-16
·产品构成 ······································ A-17
第1部 产品的规格及使用
1 产品概要
1- 1～1-22
1.1 定位控制 ····································· 1- 2
1.1.1 QD75的特点 ································ 1- 2
1.1.2 定位控制的目的及用途 ··························· 1- 4
1.1.3 定位控制的结构 ······························ 1- 6
1.1.4 定位系统的大致设计 ···························· 1- 8
1.1.5 QD75与各模块之间的信号传输 ························ 1-11
1.2 系统应用的流程 ·································· 1-14
1.2.1 总体工艺流程 ······························· 1-14
1.2.2 启动的概要 ································ 1-16
1.2.3 停止的概要 ································ 1-18
1.2.4 再启动的概要 ······························· 1-19
1.3 使用步进马达的注意事项 ······························ 1-20
1.4 关于功能版本B的添加/变更功能 ··························· 1-21
2 系统配置
2- 1～2-10
2.1 系统总体示意图 ·································· 2- 2
2.2 构成设备列表 ··································· 2- 4
2.3 适用系统 ····································· 2- 6
2.4 功能版本、序列号的确认方法 ···························· 2- 8
3 规格·功能
3- 1～3-30
3.1 性能规格 ····································· 3- 2
A - 8
3.2 功能列表 ····································· 3- 6
3.2.1 QD75的控制功能 ······························ 3- 6
3.2.2 QD75的主功能 ······························· 3- 8
3.2.3 QD75的辅助功能、通用功能 ························· 3-10
3.2.4 QD75的主功能与辅助功能的组合 ······················· 3-14
3.3 与可编程控制器CPU之间的输入输出信号规格 ······················ 3-16
3.3.1 与可编程控制器CPU之间的输入输出信号列表 ·················· 3-16
3.3.2 输入信号详细情况(QD75→可编程控制器CPU) ·················· 3-17
3.3.3 输出信号详细情况(可编程控制器CPU→QD75) ·················· 3-18
3.4 与外围设备之间的输入输出接口规格 ························· 3-19
3.4.1 输入输出信号的电气规格 ·························· 3-19
3.4.2 外围设备连接用连接器的信号排列 ······················ 3-25
3.4.3 输入输出信号的内容列表 ·························· 3-26
3.4.4 输入输出接口的内部电路 ·························· 3-28
4 产品的安装·配线·维护
4- 1～4-16
4.1 安装·配线·维护的概要 ······························ 4- 2
4.1.1 安装·配线·维护作业的执行步骤 ······················ 4- 2
4.1.2 各部位的名称 ······························· 4- 3
4.1.3 使用时的注意事项 ····························· 4- 5
4.2 安装 ······································· 4- 7
4.2.1 安装时的注意事项 ····························· 4- 7
4.3 配线 ······································· 4- 8
4.3.1 配线时的注意事项 ····························· 4- 8
4.3.2 差动驱动公共端子的配线 ·························· 4-14
4.4 安装·配线的确认 ································· 4-15
4.4.1 安装·配线结束时的确认事项 ························ 4-15
4.5 维护 ······································· 4-16
4.5.1 维护时的注意事项 ····························· 4-16
4.5.2 废弃时的注意事项 ····························· 4-16
5 定位控制中使用的数据
5- 1～5-122
5.1 数据类型 ····································· 5- 2
5.1.1 控制中的必要参数及数据 ·························· 5- 2
5.1.2 定位用参数的设置项目 ··························· 5- 4
5.1.3 原点复归用参数的设置项目 ························· 5- 6
5.1.4 定位数据的设置项目 ···························· 5- 7
5.1.5 块启动数据的设置项目 ··························· 5- 8
5.1.6 条件数据的设置项目 ···························· 5- 9
5.1.7 监视数据的类型及作用 ··························· 5-10
5.1.8 控制数据的类型及作用 ··························· 5-13
5.2 参数列表 ····································· 5-16
5.2.1 基本参数1 ································ 5-16
5.2.2 基本参数2 ································ 5-20
5.2.3 详细参数1 ································ 5-22
5.2.4 详细参数2 ································ 5-29
5.2.5 原点复归基本参数 ····························· 5-35
5.2.6 原点复归详细参数 ····························· 5-41
5.3 定位数据列表 ··································· 5-45
A - 9
5.4 块启动数据列表 ·································· 5-62
5.5 条件数据列表 ··································· 5-67
5.6 监视数据列表 ··································· 5-74
5.6.1 系统监视数据 ······························· 5-74
5.6.2 轴监视数据 ································ 5-84
5.7 控制数据列表 ··································· 5-98
5.7.1 系统控制数据 ······························· 5-98
5.7.2 轴控制数据 ································ 5-102
6 定位控制中使用的顺控程序 6- 1～6-56
6.1 创建程序时的注意事项 ······························· 6- 2
6.2 使用的软元件列表 ································· 6- 4
6.3 程序的创建 ···································· 6- 9
6.3.1 程序的总体构成 ······························ 6- 9
6.3.2 定位控制的运行程序 ···························· 6-10
6.4 定位程序示例 ··································· 6-13
6.5 程序的详细情况 ·································· 6-35
6.5.1 初始设置程序 ······························· 6-35
6.5.2 启动内容设置程序 ····························· 6-36
6.5.3 启动程序 ································· 6-38
6.5.4 连续运行中断程序 ····························· 6-47
6.5.5 再启动程序 ································ 6-49
6.5.6 停止程序 ································· 6-53
7 存储器构成及数据处理
7- 1～7-12
7.1 QD75的存储器构成及作用 ······························ 7- 2
7.1.1 QD75的存储器构成及作用 ·························· 7- 2
7.1.2 缓冲存储器的区域构成 ··························· 7- 5
7.2 数据的传送处 ··································· 7- 6
A - 10
第2部 控制的详细内容及设置
8 原点复归控制
8- 1～8-22
8.1 原点复归控制的概要 ································ 8- 2
8.1.1 2种原点复归控制 ······························ 8- 2
8.2 机械原点复归 ··································· 8- 4
8.2.1 机械原点复归的动作概要 ·························· 8- 4
8.2.2 机械原点复归的原点复归方式 ························ 8- 5
8.2.3 原点复归方式(1)：近点狗式 ························· 8- 7
8.2.4 原点复归方式(2)：止挡停止式1) ······················· 8- 9
8.2.5 原点复归方式(3)：止挡停止式2) ······················· 8-12
8.2.6 原点复归方式(4)：止挡停止式3) ······················· 8-15
8.2.7 原点复归方式(5)：计数式1) ························· 8-17
8.2.8 原点复归方式(6)：计数式2) ························· 8-19
8.3 高速原点复归 ··································· 8-21
8.3.1 高速原点复归的动作概要 ·························· 8-21
9 主要定位控制
9- 1～9-114
9.1 主要定位控制的概要 ································ 9- 2
9.1.1 主要定位控制中的必要数据 ························· 9- 4
9.1.2 主要定位控制的运行模式 ·························· 9- 5
9.1.3 定位地址的指定方法 ···························· 9-15
9.1.4 当前值的确认 ······························· 9-16
9.1.5 控制单位“degree”的处理 ························· 9-18
9.1.6 插补控制 ································· 9-22
9.2 定位数据的设置 ·································· 9-28
9.2.1 各控制与定位数据的关系 ·························· 9-28
9.2.2 1轴直线控制 ································ 9-30
9.2.3 2轴直线插补控制 ······························ 9-32
9.2.4 3轴直线插补控制 ······························ 9-36
9.2.5 4轴直线插补控制 ······························ 9-40
9.2.6 1轴固定尺寸进给控制 ···························· 9-42
9.2.7 2轴固定尺寸进给控制(插补) ························· 9-44
9.2.8 3轴固定尺寸进给控制(插补) ························· 9-47
9.2.9 4轴固定尺寸进给控制(插补) ························· 9-50
9.2.10 辅助点指定的2轴圆弧插补控制 ························ 9-52
9.2.11 中心点指定的2轴圆弧插补控制 ························ 9-56
9.2.12 辅助点指定的3轴螺旋插补控制 ························ 9-62
9.2.13 中心点指定的3轴螺旋插补控制 ························ 9-68
9.2.14 1轴速度控制 ································ 9-74
9.2.15 2轴速度控制 ································ 9-76
9.2.16 3轴速度控制 ································ 9-79
9.2.17 4轴速度控制 ································ 9-82
9.2.18 速度·位置切换控制(INC模式) ························ 9-85
9.2.19 速度·位置切换控制(ABS模式) ························ 9-92
9.2.20 位置·速度切换控制 ···························· 9-98
9.2.21 当前值变更 ································ 9-104
9.2.22 NOP指令 ································· 9-109 A - 11
9.2.23 JUMP指令 ································· 9-110
9.2.24 LOOP ··································· 9-112
9.2.25 LEND ··································· 9-113
10 高级定位控制
10- 1～10-24
10.1 高级定位控制的概要 ······························· 10- 2
10.1.1 高级定位控制中的必要数据 ························· 10- 3
10.1.2 “块启动数据”及“条件数据”的构成 ···················· 10- 4
10.2 高级定位控制的执行步骤 ····························· 10- 6
10.3 块启动数据的设置 ································ 10- 7
10.3.1 各控制与块启动数据的关系 ························· 10- 7
10.3.2 块启动(通常启动) ····························· 10- 8
10.3.3 条件启动 ································ 10-10
10.3.4 等待启动 ································ 10-11
10.3.5 同时启动 ································ 10-12
10.3.6 重复启动(FOR循环) ···························· 10-13
10.3.7 重复启动(FOR条件) ···························· 10-14
10.3.8 使用NEXT启动时的限制事项 ························· 10-15
10.4 条件数据的设置 ································· 10-16
10.4.1 各控制与条件数据的关系 ·························· 10-16
10.4.2 条件数据的设置示例 ···························· 10-18
10.5 多个轴同时启动控制 ································ 10-19
10.6 高级定位控制的启动程序 ······························ 10-21
10.6.1 高级定位控制的启动 ···························· 10-21
10.6.2 高级定位控制的启动程序示例 ························ 10-22
11 手动控制
11- 1～11-34
11.1 手动控制的概要 ································· 11- 2
11.1.1 3种手动控制 ······························· 11- 2
11.2 JOG运行 ····································· 11- 4
11.2.1 JOG运行的动作概要 ···························· 11- 4
11.2.2 JOG运行的执行步骤 ···························· 11- 7
11.2.3 JOG运行中的必要参数的设置 ························ 11- 8
11.2.4 JOG运行启动程序的创建 ·························· 11-10
11.2.5 JOG运行的动作示例 ···························· 11-13
11.3 微动运行 ···································· 11-16
11.3.1 微动运行的动作概要 ···························· 11-16
11.3.2 微动运行的执行步骤 ···························· 11-19
11.3.3 微动运行中的必要参数的设置 ························ 11-20
11.3.4 微动运行启动程序的创建 ·························· 11-21
11.3.5 微动运行的动作示例 ···························· 11-24
11.4 手动脉冲发生器运行 ······························· 11-26
11.4.1 手动脉冲发生器运行的动作概要 ······················· 11-26
11.4.2 手动脉冲发生器运行的执行步骤 ······················· 11-30
11.4.3 手动脉冲发生器运行中的必要参数的设置 ··················· 11-31
11.4.4 手动脉冲发生器运行的允许/禁止程序的创建 ················· 11-32
A - 12
12 控制的辅助功能 12- 1～12-106
12.1 辅助功能的概要 ································· 12- 2
12.1.1 辅助功能的概要 ······························ 12- 2
12.2 机械原点复归固有的辅助功能 ··························· 12- 4
12.2.1 原点复归重试功能 ····························· 12- 4
12.2.2 原点移动功能 ······························· 12- 8
12.3 控制补偿功能 ·································· 12-11
12.3.1 背隙补偿功能 ······························· 12-11
12.3.2 电子齿轮功能 ······························· 12-13
12.3.3 近旁通过功能 ······························· 12-19
12.3.4 近旁通过输出时机选择功能 ························· 12-21
12.4 控限制制功能 ·································· 12-25
12.4.1 速度限制功能 ······························· 12-25
12.4.2 扭矩限制功能 ······························· 12-27
12.4.3 软件行程限制功能 ····························· 12-31
12.4.4 硬件行程限制功能 ····························· 12-37
12.5 控制内容变更功能 ································ 12-39
12.5.1 速度变更功能 ······························· 12-39
12.5.2 超驰功能 ································ 12-46
12.5.3 加减速时间变更功能 ···························· 12-50
12.5.4 扭矩变更功能 ······························· 12-53
12.5.5 目标位置变更功能 ····························· 12-55
12.6 绝对位置恢复功能 ································ 12-59
12.7 其它功能 ···································· 12-69
12.7.1 单步功能 ································ 12-69
12.7.2 跳跃功能 ································ 12-74
12.7.3 M代码输出功能 ······························ 12-77
12.7.4 示教功能 ································ 12-82
12.7.5 指令到位功能 ······························· 12-89
12.7.6 加减速处理功能 ······························ 12-92
12.7.7 预读启动功能 ······························· 12-95
12.7.8 减速开始标志功能 ···························· 12-100
12.7.9 减速停止时停止指令处理功能 ······················· 12-103
13 通用功能
13- 1～13- 8
13.1 通用功能的概要 ································· 13- 2
13.2 参数的初始化功能 ································ 13- 3
13.3 执行数据的备份功能 ······························· 13- 5
13.4 外部输入输出信号逻辑切换功能 ·························· 13- 7
13.5 外部输入输出信号监视功能 ···························· 13- 8
A - 13
14 专用指令
14- 1～14-24
14.1 专用指令列表 ·································· 14- 2
14.2 专用指令中的互锁 ································ 14 -2
14.3 Z.ABRST1、Z.ABRST2、Z.ABRST3、Z.ABRST4 ······················ 14 -3
14.4 ZP.PSTRT1、ZP.PSTRT2、ZP.PSTRT3、ZP.PSTRT4 ···················· 14 -8
14.5 ZP.TEACH1、ZP.TEACH2、ZP.TEACH3、ZP.TEACH4 ···················· 14-12
14.6 ZP.PFWRT ···································· 14-16
14.7 ZP.PINIT ···································· 14-20
15 出错的诊断及处理措施 15- 1～15-38
15.1 故障排除 ···································· 15- 2
15.2 出错及报警的内容 ································ 15- 5
15.3 出错列表 ···································· 15- 8
15.4 报警列表 ···································· 15-32
附录
附录- 1～附录-157
附录1 功能的版本升级 ································ 附录- 2
附录1.1 各功能版本的功能比较 ························ 附录- 2
附录1.2 从QD75P□/QD75D□替换为QD75P□N/QD75D□N模块时的注意事项 ······· 附录- 4
附录2 格式表单 ··································· 附录- 6
附录2.1 定位模块动作图 ··························· 附录- 6
附录2.2 参数设置值记录表 ·························· 附录- 8
附录3 定位数据(No.1～600)缓冲存储器地址列表 ····················· 附录-12
附录4 与三菱电机产伺服放大器的连接示例 ······················· 附录-44
附录4.1 QD75D□N与MR-J3-□A的连接示例(差动驱动) ··············· 附录-44
附录4.2 QD75D□N与MR-H□A的连接示例(差动驱动) ················ 附录-45
附录4.3 QD75D□N与MR-J2/J2S-□A的连接示例(差动驱动) ············· 附录-46
附录4.4 QD75D□N与MR-C□A的连接示例(差动驱动) ················ 附录-47
附录5 与ORIENTALMOTOR公司产步进马达的连接示例 ···················· 附录-48
附录5.1 QD75P□N与VEXTA UPD的连接示例(开集电极) ··············· 附录-48
附录6 与松下电器产伺服放大器的连接示例 ······················· 附录-49
附录6.1 QD75D□N与MINAS-A系列的连接示例(差动驱动) ·············· 附录-49
附录7 与三洋电气产伺服放大器的连接示例 ······················· 附录-50
附录7.1 QD75D□N与PYO系列的连接示例(差动驱动) ················ 附录-50
附录8 与安川电机产伺服放大器的连接示例 ······················· 附录-51
附录8.1 QD75D□N与Σ-Ⅱ系列的连接示例(差动驱动) ··············· 附录-51
附录9 与传统型定位模块的比较 ···························· 附录-52
附录9.1 与A1SD71S2的比较 ·························· 附录-52
附录9.2 与A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3的比较 ············· 附录-53
附录10 使用GX Works2的情况下 ···························· 附录-75
附录10.1 模块的添加 ····························· 附录-76
附录10.2 参数设置 ······························ 附录-77
附录10.3 自动刷新设置 ···························· 附录-82
附录10.4 定位监视 ······························ 附录-83
附录10.5 定位测试 ······························ 附录-93
附录10.6 波形跟踪 ······························附录-101
附录10.7 轨迹跟踪 ······························附录-104
附录10.8 参数的初始化功能 ··························附录-107 A - 14
附录10.9 执行数据的备份功能 ·························附录-109
附录10.10 外部输入输出信号逻辑切换功能····················附录-111
附录10.11 外部输入输出信号监视功能 ·····················附录-112
附录10.12 履历监视功能 ···························附录-113
附录10.13 出错确认 ·····························附录-115
附录10.14 功能块(FB) ····························附录-118
附录11 MELSEC定位术语说明 ·····························附录-119
附录12 定位控制问答 ································附录-137
附录13 缓冲存储器地址列表 ·····························附录-143
附录14 外形尺寸图 ·································附录-151
索引
索引- 1～索引- 9
索引 ········································ 索引- 1
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