Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 3 Specifications and Functions
3.2 List of functions
3.2.1 QD77MS control functions
The QD77MS has several functions. In this manual, the QD77MS functions are
categorized and explained as follows.
Main functions
(1) OPR control
"OPR control" is a function (Fast OPR) that established the start point for
carrying out positioning control, and carries out positioning toward that start
point (Machine OPR). 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 pre-registered in the QD77MS 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 QD77MS.
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 QD77MS 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. (Command is output simultaneously to
multiple servo amplifiers.)
•
The designated positioning data can be executed repeatedly, etc.,
(Refer to Chapter 10 "High-Level Positioning Control".)
(4) Manual control
This control executes the random positioning operation by inputting a signal
into the QD77MS from an external device. 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".)
(5) Expansion control
The following controls other than the positioning control can be executed.
• Speed control and torque control not including position loop for the command
to servo amplifier (Speed-torque control). (Refer to Section 12 "Expansion
Control".)
• Synchronous control with gear, shaft, change gear and cam not by
mechanical, but by software use "synchronous control parameter", and is
synchronized with input axis (Synchronous control).