Mitsubishi Electric MELSEC iQ-R-RD75D2 Manuals

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Mitsubishi Electric MELSEC iQ-R-RD75D2 User Manual (598 pages)

MELSEC iQ-R series Positioning Module (Application)

Brand: Mitsubishi Electric | Category: Control Unit | Size: 10.87 MB

Safety Precautions
3
Wiring Precautions
6
Conditions of Use for the Product
11
Introduction
11
Table of Contents
14
Relevant Manuals
20
Terms
20
Chapter 1 Starting and Stopping

21
Starting

21
- Normal Start
  24
- Quick Start
  26
- Multiple Axes Simultaneous Start
  31
Stopping

34
- Deceleration Stop
  35
Restarting

38
Chapter 2 Opr Control

40
Overview of the OPR Control

40
- Two Types of OPR Controls
  40
Machine OPR

42
- Operation Overview of the Machine OPR
  42
- Machine OPR Method
  43
- Near-Point Dog Method
  44
- Stopper Method 1
  46
- Stopper Method 2
  49
- Stopper Method 3
  52
- Count Method 1
  54
- Count Method 2
  56
- Data Setting Method
  58
Fast OPR

59
- Operation Overview of the Fast OPR
  59
Chapter 3 Major Positioning Control

61
Overview of the Major Positioning Controls

61
Positioning Data Setting

84
Chapter 4 Advanced Positioning Control

156
Overview of Advanced Positioning Control

156
- Data Required for Advanced Positioning Control
  157
- Block Start Data and Condition Data Configurations
  158
Execution Procedure for Advanced Positioning Control

159
Setting the Block Start Data

160
- Relation between Various Controls and Block Start Data
  160
- Block Start (Normal Start)
  161
- Condition Start
  163
- Wait Start
  164
- Simultaneous Start
  165
- Repeated Start (for Loop)
  166
- Repeated Start (for Condition)
  167
- Restrictions When the NEXT Start Is Used
  168
Setting the Condition Data

169
- Relation between Various Controls and Condition Data
  169
- Setting Examples of the Condition Data
  171
Start Program for the Advanced Positioning Control

172
- Starting the Advanced Positioning Control
  172
- Start Program Example for the Advanced Positioning Control
  173
Chapter 5 Manual Control

176
Overview of the Manual Control

176
- Three Manual Control Methods
  176
JOG Operation

178
Inching Operation

187
Manual Pulse Generator Operation

195
Chapter 6 Inter-Module Synchronization Function

203
- (Simultaneous Start of Multiple Modules)
  
  203
  - Before Use
    203
Control in Pre-Analysis Mode

204
Control in Normal Analysis Mode

208
Chapter 7 Control Sub Functions

211
Overview of Sub Functions

211
Sub Functions Specific to Machine OPR

213
- OPR Retry Function
  213
- OP Shift Function
  217
Function to Compensate Control

220
- Backlash Compensation Function
  220
- Electronic Gear Function
  222
- Near Pass Function
  228
- Output Timing Selection of Near Pass Control
  230
Function to Limit Control

232
- Speed Limit Function
  232
- Torque Limit Function
  234
- Software Stroke Limit Function
  237
- Hardware Stroke Limit Function
  243
Functions that Change Control Details

245
- Speed Change Function
  245
- Override Function
  250
- Acceleration/Deceleration Time Change Function
  253
- Torque Change Function
  256
- Target Position Change Function
  258
Function Related to Start

261
- Pre-Reading Start Function
  261
- Start Time Adjustment Function
  264
Absolute Position Restoration Function

266
Function Related to Stop

271
Other Functions

279
- Skip Function
  279
- Setting Data
  280
- M Code Output Function
  282
- Teaching Function
  286
- Command In-Position Function
  291
- Acceleration/Deceleration Processing Function
  293
- Deceleration Start Flag Function
  295
- During Uncompleted OPR Operation Setting Function
  298
- Interrupt Function
  299
Chapter 8 Common Functions

305
Overview of Common Functions

305
Module Data Initialization Function

306
Module Data Backup Function

308
External I/O Signal Logic Switching Function

310
External I/O Signal Monitor Function

311
History Monitor Function

312
Amplifier-Less Operation Function

314
Chapter 9 Parameter Setting

317
Parameter Setting Procedure

317
Module Parameters

318
- Basic Setting
  318
- Application Setting
  321
- Interrupt Setting
  322
- Refresh Settings
  323
Module Extension Parameter

327
- Positioning Data
  327
- Block Start Data
  330
Chapter 10 Monitoring/Test

332
10.1 Positioning Monitor

332
Positioning Test

334
Chapter 11 Specifications of I/O Signals with Cpu Module

344
List of I/O Signals with CPU Module

344
Details of Input Signals

346
Details of Output Signals

347
Chapter 12 Data Used for Positioning Control

348
Types of Data

348
List of Buffer Memory Addresses

362
Basic Setting

382
- Basic Parameter 1
  382
- Basic Parameter 2
  391
- Detailed Parameter 1
  393
- Detailed Parameter 2
  402
- OPR Basic Parameter
  411
- OPR Detailed Parameter
  416
Positioning Data

422
Block Start Data

436
Condition Data

441
Monitor Data

445
- System Monitor Data
  445
- Axis Monitor Data
  455
Control Data

469
- System Control Data
  469
- Axis Control Data
  472
Interrupt Setting

486
Synchronized Refresh-Dedicated Area

488
Basic Parameter 3

489
Parameter Reflection

490
Chapter 13 Programming

493
Precautions on Programming

493
List of Labels Used

495
Creating Programs

499
- Overall Configuration of Programs
  499
Program Example

500
Chapter 14 Troubleshooting

517
Troubleshooting Procedure

517
- Checks with Leds
  517
- Check of Module Status
  518
Troubleshooting by Symptom

519
Error and Warning Details

521
- Error Type
  521
- Error Code Classification
  522
- Error Storage
  522
- Warning Type
  523
- Warning Classification
  523
- Warning Storage
  523
- Clearing Errors or Warnings
  524
List of Warning Codes

525
List of Error Codes

529
Appendices

550
Appendix 1 Module Label

550
Appendix 2 Dedicated Instruction

552
Appendix 3 How to Find Buffer Memory Addresses

553
Appendix 4 Operation Examples of When the Remote Head Module Is Mounted

558
Appendix 5 Added or Changed Functions

589
- Index
  590
- Revisions
  594
- Warranty
  595
- Trademarks
  596

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Mitsubishi Electric MELSEC iQ-R-RD75D2 Manuals

Mitsubishi Electric MELSEC iQ-R-RD75D2 User Manual (598 pages)

Table of Contents

Chapter 1 Starting and Stopping

Starting

Stopping

Restarting

Chapter 2 Opr Control

Overview of the OPR Control

Machine OPR

Fast OPR

Chapter 3 Major Positioning Control

Overview of the Major Positioning Controls

Positioning Data Setting

Chapter 4 Advanced Positioning Control

Overview of Advanced Positioning Control

Execution Procedure for Advanced Positioning Control

Setting the Block Start Data

Setting the Condition Data

Start Program for the Advanced Positioning Control

Chapter 5 Manual Control

Overview of the Manual Control

JOG Operation

Inching Operation

Manual Pulse Generator Operation

Chapter 6 Inter-Module Synchronization Function

(Simultaneous Start of Multiple Modules)

Control in Pre-Analysis Mode

Control in Normal Analysis Mode

Chapter 7 Control Sub Functions

Overview of Sub Functions

Sub Functions Specific to Machine OPR

Function to Compensate Control

Function to Limit Control

Functions that Change Control Details

Function Related to Start

Absolute Position Restoration Function

Function Related to Stop

Other Functions

Chapter 8 Common Functions

Overview of Common Functions

Module Data Initialization Function

Module Data Backup Function

External I/O Signal Logic Switching Function

External I/O Signal Monitor Function

History Monitor Function

Amplifier-Less Operation Function

Chapter 9 Parameter Setting

Parameter Setting Procedure

Module Parameters

Module Extension Parameter

Chapter 10 Monitoring/Test

10.1 Positioning Monitor

Positioning Test

Chapter 11 Specifications of I/O Signals with Cpu Module

List of I/O Signals with CPU Module

Details of Input Signals

Details of Output Signals

Chapter 12 Data Used for Positioning Control

Types of Data

List of Buffer Memory Addresses

Basic Setting

Positioning Data

Block Start Data

Condition Data

Monitor Data

Control Data

Interrupt Setting

Synchronized Refresh-Dedicated Area

Basic Parameter 3

Parameter Reflection

Chapter 13 Programming

Precautions on Programming

List of Labels Used

Creating Programs

Program Example

Chapter 14 Troubleshooting

Troubleshooting Procedure

Troubleshooting by Symptom

Error and Warning Details