Mitsubishi Melsec-Q QD75D1, User Manual

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MELSEC-Q
3 SPECIFICATIONS AND FUNCTIONS
3.2 List of functions
3.2.1 QD75 control functions
The QD75 has several functions. In this manual, the QD75 functions are categorized
and explained as follows.
Main functions
(1) OPR control
"OPR control" is a function that established the start point for carrying out
positioning control, and carries out positioning toward that start point. This is
used to return a workpiece, located at a position other than the OP when the
power is turned ON or after positioning stop, to the OP. The "OPR control" is
preregistered in the QD75 as the "Positioning start data No. 9001 (Machine
OPR)", and "Positioning start data No. 9002 (Fast OPR). (Refer to CHAPTER 8
"OPR CONTROL".)
(2) Major positioning control
This control is carried out using the "Positioning data" stored in the QD75.
Positioning control, such as position control and speed control, is executed by
setting the required items in this "positioning data" and starting that positioning
data. An "operation pattern" can be set in this "positioning data", and with this
whether to carry out control with continuous positioning data (ex.: positioning
data No. 1, No. 2, No. 3, ...) can be set. (Refer to CHAPTER 9 "MAJOR
POSITIONING CONTROL".)
(3) High-level positioning control
This control executes the "positioning data" stored in the QD75 using the
"block start data". The following types of applied positioning control can be
carried out.
• Random blocks, handling several continuing positioning data items as
"blocks", can be executed in the designated order.
• "Condition judgment" can be added to position control and speed control.
• The operation of the designated positioning data No. that is set for multiple
axes can be started simultaneously. (Pulses are output simultaneously to
multiple servos.)
• The designated positioning data can be executed repeatedly, etc.,
(Refer to CHAPTER 10 "HIGH-LEVEL POSITIONING CONTROL".)
(4) Manual control
By inputting a signal into the QD75 from an external source, the QD75 will
output a random pulse train and carry out control. Use this manual control to
move the workpiece to a random position (JOG operation), and to finely adjust
the positioning (inching operation, manual pulse generator operation), etc.
(Refer to CHAPTER 11 "MANUAL CONTROL".)
Sub functions
When executing the main functions, control compensation, limits and functions can
be added. (Refer to CHAPTER 12 "CONTROL SUB FUNCTIONS".)
Common functions
Common control using the QD75 for "parameter initialization" or "backup of
execution data" can be carried out. (Refer to CHAPTER 13 "COMMON
FUNCTIONS".)