Home

MELSEC iQ-R Positioning Module User`s Manual (Startup)

1. 26 Software stroke limit function 25 Speed change function 25 Speed 23 Speed limit function 25 Speed position switching control 23 Start time adjustment function 25 Step function 26 Stop command processing for deceleration stop function s Ade S adan a 26 Stop signal 46 Sub 22 Target position change function 25 Teaching 26 Torque change function 25 Torque limit function 25 U Upper limit signal FLS 46 Walit Start uus aces a a 24 LI PP 17 Wiring example when shielded cables are used 42 Z Zero signal 24V PG024 46 Zero signal 5V PG05 46 Zero signal common PGOCOM 46 63 REVISIONS The manual number is given on the bottom left of the back cover June 2014 SH NA 081243ENG A First edition July 2014 SH NA 081243ENG B Correction regarding restrictions on using a stepping motor January 2015 SH NA 081243ENG C Added function Online module change MAdded or modified parts RELEVANT MANUALS Section 1 1 3 4 5 1 Appendix 2 Japanese manual number SH 081242 C This manu
2. B i bRUog udJogOperatio 10 nSpet H UD i udJoeSpd ulnchingMove 11 ment amp mount L L HUM ulnchine 12 371 p 1 6 OPERATION EXAMPLES 57 APPENDICES Appendix 1 External Connection The connection example with a servo amplifier manufactured by Mitsubishi The connection example of the RD75DO and the MR J4 A The differential driver connection is recommended because the maximum output pulse is faster and the maximum connection distance between servos is longer for the differential driver connection than for the transistor output connection Page 16 Performance Specifications Configure a sequence to turn off the MC at alarms and emergency stops A NF MC MR J4 LIA Servomotor L1 1CNP1 Power supply amp 12 1 1 3 phase 200VAC L3 1 Pi P25 i 11 2 e zd i 1 24VDC EMGA B2 Electromagnetic 10m or shorter Cc Cutoff when a servo ON brake i RD75DO I Pl signal turns off andan iL AAA sed alarm signal tu
3. OPR control Machine OPR control Mechanically establishes the positioning start point using a near point dog or stopper In the data setting method no axis movement occurs since the current position is set as OP Positioning start No 9001 Fast OPR control Positions a target to the OP address Md 21 Machine feed value stored in the RD75 using OPR control Positioning start No 9002 Major positioning control Position control Linear control 1 axis linear control 2 axis linear interpolation control 3 axis linear interpolation control 4 axis linear interpolation control Positions a target using a linear path to the address set in the positioning data or to the position specified with the movement amount Fixed feed control 1 axis fixed feed control 2 axis fixed feed control 3 axis fixed feed control 4 axis fixed feed control Positions a target by the movement amount specified with the amount set in the positioning data With the fixed feed control Md 20 Current feed value is set to 0 when the control is started In the 2 axis fixed feed control 3 axis fixed feed control or 4 axis fixed feed control the fixed feed is performed along a linear path obtained by interpolation 2 axis circular interpolation control Positions a target using an arc path to the address set in the positioning data or to the position specified with the movement amount sub point or center
4. 5 The settings are reflected by resetting the CPU module or powering off and on the system Module parameters The following table lists module parameters Use the default values for the setting items not listed here or the setting items for the axes not described here Basic parameter 1 Unit setting 0 mm Electronic gear selection 1 32bit No of pulses per rotation 32 bits 150000 pulse Movement amount per rotation 32 bits 250000 0 um Bias speed at start 10 00 mm min OPR basic parameter OPR speed 50 00mm min Creep speed 15 00mm min OPR retry 1 Perform the OPR retry with limit switches 6 OPERATION EXAMPLES 53 54 Module extension parameters The following table lists module extension parameters Use the default values for the setting items not listed here or the setting items for the axes not described here Operation pattern 0 Positioning complete Control method 01H ABS1 1 axis linear control ABS Axis to be interpolated Acceleration time No 1 Acceleration time 1 Deceleration time No 2 Deceleration time 2 Positioning address 1000000 0 um Arc address Command speed 200000 00mm min Dwell time 300 ms M code 0 M code ON signal output timing 0 Use the set value of M code ON signal output timing ABS direction in degrees 0 Use the set value of ABS direction in degrees Interpolation speed specification method
5. Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 65 66 TRADEMARKS Microsoft Windows Windows Vista Windows NT Windows XP Windows Server Visio Excel PowerPoint Visual Basic Visual C and Access are either registered t
6. dor OPE V OX em 24 Acceleration deceleration processing function 26 Inter module synchronization function Acceleration deceleration time change function 25 simultaneous start of multiple modules 24 Advanced positioning control 22 Internal circuit llle 48 Applicable connectors 41 Internal current consumption BVDC 17 Applicable wire 5 17 41 Interrupt function 26 Axis display LED AX1 to 4 14 J B JOG 24 Backlash compensation function 25 JUMP instruction 24 Block start Normal start 24 L A LEND uds Eee 24 Combination of main and sub functions 27 Linear 23 Command in position function 26 LOOP cease earns aaa amna RR Sean unies 24 Common 46 Lower limit signal 46 Common functions 22 Condition start 24 M Connectors for external devices 14 41 Continuous operation interrupt function 26 M code output function 26 Continuous path control 24 Machine OPR control 23 Continuous positioning control 24 Major positioning co
7. MITSUBISHI ELECTRIC Mitsubishi Programmable Controller series MELSEC iQ R Positioning Module User s Manual Startup RD75P2 RD75P4 RD75D2 RD75D4 SAFETY PRECAUTIONS Read these precautions before using this product Before using this product please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly The precautions given in this manual are concerned with this product only For the safety precautions of the programmable controller system refer to the MELSEC iQ R Module Configuration Manual In this manual the safety precautions are classified into two levels N WARNING and N CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in NWARNING death or severe injury A CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in minor or moderate injury or property damage Under some circumstances failure to observe the precautions given under N CAUTION may lead to serious consequences Observe the precautions of both levels because they are important for personal and system safety Make sure that the end users read this manual and then keep the manual in a safe place for future reference Design Precautions NWARNING O Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in
8. ON The photocoupler ON OFF status is shown below When the voltage is not applied Photocoupler OFF When the voltage is applied Photocoupler ON 5 2 Connector for External Devices 49 Output RD75PLI Wiring is necessary for positioning A Wiring is necessary depending on the situation External wiring Pin No Internal circuit Signal name Need for wiring Load ws De uma 5 to 24VDC 1A14 Common CLEAR COM Load 1A15 A cw PULSE F gt y A phase 1A16 PULSE PULSE COM Load 9 1 1417 CCW PULSER 5 to 24VDC gt Y B phase 1 18 SIGN PULSE COM Output RD75DD O Wiring is necessary for positioning A Wiring is necessary depending on the situation External wiring Pin No Internal circuit Signal name Need for wiring Load 1A13 Deviation CLEAR counter clear 5 to 24VDC A i 1A14 Common CLEAR COM 1A15 CW PULSE F 1 16 PULSE PULSE F 1A17 CCW PULSE R lt B phase 1 18 SIGN PULSE R Differential 1 2819 gt 2 EN PULSE COM hs 2B20 pi terminal 5 0 5 WIRING 5 2 Connector for External Devices 6 OPERATION EXAMPLES This chapter describes the programming procedure and the basic programs of the RD75 When applying the program examples provided in this manual to an actual system properly verify the applicabil
9. Incomplete connections may cause short circuit fire or malfunction Securely connect the connector to the module Poor contact may cause malfunction Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100mm or more between them Failure to do so may result in malfunction due to noise Place the cables in a duct or clamp them If not dangling cable may swing or inadvertently be pulled resulting in damage to the module or cables or malfunction due to poor contact Do not clamp the extension cables with the jacket stripped Check the interface type and correctly connect the cable Incorrect wiring connecting the cable to an incorrect interface may cause failure of the module and external device Tighten the terminal screws or connector screws within the specified torque range Undertightening can cause drop of the screw short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction When disconnecting the cable from the module do not pull the cable by the cable part For the cable with connector hold the connector part of the cable For the cable connected to the terminal block loosen the terminal screw Pulling the cable connected to the module may result in malfunction or damage to the module or cable Prevent foreign matter such as dust or wire chips from entering the module Such for
10. address of the specified positioning data No Cd 39 Command in position function Calculates the remaining distance for the RD75 to reach the positioning stop position and sets Command in position flag to 1 when the value is less than the set value When performing another subsidiary work before the control ends use this function as a trigger for the subsidiary work Acceleration deceleration Adjusts acceleration deceleration of the control processing function Deceleration start flag function To inform the stop timing this function turns on Deceleration start flag when the speed status is changed from the constant speed or acceleration to deceleration during the position control whose operation pattern is Positioning complete During uncompleted OPR Sets whether or not to execute the positioning control when OPR request flag is on operation setting function Interrupt function Generates an interrupt request to the CPU module when an interrupt factor is detected and starts an interrupt program Common functions The following table shows the overview of the functions executed as necessary Module data initialization function Returns the setting data stored in the RD75 buffer memory and flash ROM to the initial values set at the factory Module data backup function Writes the positioning data and block start data currently being used for control to the flash ROM External I O signal logic switching Swi
11. an OPR direction and an OPR speed Deceleration starts when the near point dog signal turns on If an incorrect OPR direction is set motion control may continue without deceleration To prevent machine damage caused by this configure an interlock circuit external to the programmable controller 2 When the positioning module detects an error the motion slows down and stops or the motion suddenly stops depending on the stop group setting in parameter Set the parameters to meet the specifications of the positioning control system used In addition set the OPR parameters and positioning data within the specified setting range 3 Outputs may remain on or off or become undefined due to a failure of a component such as an insulation element and transistor in an output circuit where the positioning module cannot detect any error In a system where the incorrect outputs could cause a serious accident configure an external circuit for monitoring output signals O An absolute position restoration by the positioning function may turn off Servo ON signal servo off for approximately 60ms scan time and the motor may run unexpectedly If this causes a problem provide an electromagnetic brake to lock the motor during absolute position restoration Design Precautions NCAUTION Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100mm or more between them Fa
12. bPositioningS RD75 1 bnPositioning RD75 1 bnBusy tartReq Complete Axis O Axis DIO bPositioningStartR 2 4 X14 DXOC eq Vt RD75 1 bnErrorDetect ion Axis O 2 X8 binputFBErrR m esetraq EStartPositioning_bErr 4 X4E 1 1 8075 StartPositioning 00A 1 M RD75 StartPositioning 5 14 mem bPositioningS bStartPositioning_ tartReq bENO 6 1 Bi bStartPositioning_ 7 075 1 JHDUT i stModule o_bOK B bStartPositioning_ bErr 8 T K H Uni uAxis o bErrB uPositioning UStartPositio 9 StartNo ning_uErrld H uti Startno o uErdd uw Hc 10 a21 END 6 OPERATION EXAMPLES BJOG operation setting program bInputSetJogS jl peedReq K10000 udJogOperationSp x2D eed 1 KO ulnchingMovement Amount 51 END BJOG operation execution program bInputForwardJoz RD75 1 bnBusy StartReq 075 bResdy igo BDurineJoeInchine 1 xor M Operation l 1 Vt bInputReverseJog StartReq 2 X2F m bInputForwardJog bInputReverseJ StartReq ogStartReq bDurineJoglnching 3 5 X2E Operation Vr Vt MRD75JOG 00A 1 M RD75 JOG 00A 8 bDurineJoglnching Operation bJOG bENO 5 1 BibEN o bENOB bJOG bOK 6 RD75_1 H DUT i stMadule o bOKB bJOG bErr T K HUW i Axis obErrB bInputForwardJog StartReq 8 bFJog o uErrld UW bInputReverseJoe StartReq 9 2
13. operation Inching operation control Manual pulse generator operation x O O x o A x O O x O O O O O O O O O O O O O O O O O O O O O O O O x x O x x x O x x x x X x x x O O 2 The near pass function is featured as standard The function is valid only when the continuous path control for position control operations is set 3 Invalid during creep speed 4 Combination with the inching operation is not available The inching operation does not perform acceleration deceleration processing 3 LIST OF FUNCTIONS 3 5 Combination of Main and Sub Functions control Machine OPR control A S A S O x x x x Fast OPR control O x x x x Major Position 1 axis linear control AT O positioning control 2 3 4 axis linear O control interpolation control 1 axis fixed feed O O x O O O control 2 3 4 axis fixed feed O O O x O O O control Interpolation 2 axis circular O O O x O O O interpolation control 3 axis helical O O O x O O O interpolation control Speed control 1 to 4 axis O x O Speed position switching control Position speed switching cont
14. processing function O O O x O Other functions Skip function O O O x Q M code output function O O O x O Teaching function x x x x x Command in position function Acceleration deceleration O O x processing function Deceleration start flag function O O O x O During uncompleted OPR O O O x O operation setting function Interrupt function O O O 8 No limitation for combination use with other functions Satisfaction judgment of interruption conditions is performed as needed 3 LIST OF FUNCTIONS 3 6 Combination Among Sub Functions 35 Function specific OPR retry function x x O x x to machine OPR op shift function x x Function to Backlash compensation O O O O compensate function control Electronic gear function Near pass function O O O Output timing selection of near O O O O O pass control Function to limit Speed limit function O O O O O control Torque limit function O O O O O Software stroke limit function O O O O O Hardware stroke limit function O O O O O Functions that Speed change function O O O A O change control Override function O O O O O details Acceleration deceleration time O O O O O change function Torque change function O O O O O Target position change function O O O O O Function related Start time adjustment function O O O O D to positioni
15. removing the module Failure to do so may cause the module to fail or malfunction Tighten the screws within the specified torque range Undertightening can cause drop of the component or wire short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction After the first use of the product do not mount remove the module to from the base unit and the terminal block to from the module and do not insert remove the extended SRAM cassette to from the CPU module more than 50 times IEC 61131 2 compliant respectively Exceeding the limit may cause malfunction After the first use of the product do not insert remove the SD memory card to from the CPU module more than 500 times Exceeding the limit may cause malfunction Do not touch the metal terminals on the back side of the SD memory card Doing so may cause malfunction or failure O Do not touch the integrated circuits on the circuit board of an extended SRAM cassette Doing so may cause malfunction or failure of the module O Do not drop or apply shock to the battery to be installed in the module Doing so may damage the battery causing the battery fluid to leak inside the battery If the battery is dropped or any shock is applied to it dispose of it without using Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock Lock t
16. set 2 3 4 axis fixed feed A x x O O control Interpolation Continuous path control cannot be set 2 axis circular O O O interpolation control 3 axis helical interpolation O x x O O control Speed control 1 to 4 axis A x x O Only independent positioning control can be set Speed position switching control A x x Position speed switching control Only independent positioning control can be set Other Current value change O controls Continuous path control cannot be set NOP instruction x x x x x JUMP instruction x x x x x LOOP to LEND x x x x Manual JOG operation Inching operation x x x Manual pulse generator operation x x x O O 1 The operation pattern is one of the setting items for Positioning data 3 LIST OF FUNCTIONS 3 5 Combination of Main and Sub Functions 27 28 OPR Machine OPR control control Fast OPR control Major Position 1 axis linear control positioning control control 2 3 4 axis linear interpolation control 1 axis fixed feed control 2 3 4 axis fixed feed control Interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed position switching control Position speed switching control Other Current value change controls NOP instruction JUMP instruction LOOP to LEND Manual JOG
17. step out does not occur When the circular interpolation control or helical interpolation control is used The circular interpolation control or 3 axis helical interpolation control cannot be used for an axis where a stepping motor is connected Use a servomotor when using the circular interpolation control or 3 axis helical interpolation control When the backlash compensation function is used The backlash compensation function cannot be used for an axis where a stepping motor is connected If the function is used the motor may lose steps 60 APPENDICES Appendix 3 Restrictions on Using a Stepping Motor Appendix 4 External Dimensions This section shows the external dimensions of the RD75 Y co Y 2 o e 110 gt Unit mm e e 110 gt amp 27 8 Unit mm APPENDICES 6 1 Appendix 4 External Dimensions INDEX 0 to 9 H 2 axis circular interpolation control 23 Hardware stroke limit function 25 3 axis helical interpolation control 23 History monitor function 26 40 pin connector crimping tool 41 40 pin connectors 41 I A Inching operation 24 ss Independent positioning control Positioning complete Absolute position restoration function 2D iu Gum CUR
18. that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment certain measures may be necessary Please refer to one of the following manuals LL MELSEC iQ R Module Configuration Manual Safety Guidelines This manual is included with the base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives Additional measures To ensure that this product maintains EMC and Low Voltage Directives please refer to one of the following manuals LA MELSEC iQ R Module Configuration Manual e LA Safety Guidelines This manual is included with the base unit 10 CONTENTS SAFETY PRECAUTIONS es 2 bh Rb e a eed di bee de EET 1 CONDITIONS OF USE FOR THE PRODUCT 9 ly ggiojaii eylo prr 9 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES 10 RELEVANT MANUALS axo beoe aspa ad h pass gee ae as 12 TERMS mr 12 PERIPHERALS ikea RUE RU a RON Red gaa RANGE E sua CR abides Ds sqa sun Budd E us 13 CHAPTER 1 PART NAMES 14 1 1 LED Display Specifications 0 0 0 liess hh hh hrs 14 CHAPTER 2 SPECIFICATIONS 16 2 1 Performance Specifications vico ii 16 2 2 Specifications of Input output Interfaces with External Devices 18 Electrical specifications of I O signal
19. the new speed in Cd 14 New speed value the speed change buffer memory area and change the speed with Cd 15 Speed change request Override function Acceleration deceleration time change function Changes the speed during positioning within a percentage of 0 to 30096 Execute this function using Cd 13 Positioning operation speed override Changes the acceleration deceleration time at the speed change Torque change function Changes Torque limit value during the control Target position change function Changes the target position during positioning The position and speed can be changed simultaneously Function related to positioning start Pre reading start function If the positioning start is requested while Execution prohibition flag is on no pulse is output and when Execution prohibition flag is turned off and detected outputting pulses is started within 0 88ms Start time adjustment function After the start trigger was input with the quick start function this function starts outputting pulses after the preset time has passed Absolute position restoration function Restores the absolute position of a specified axis 1 The near pass function is featured as standard and is valid only during the position control The function cannot be set to be invalid with parameters 2 To perform Torque limit a D A converter module and a drive unit capable of the torque limit command wi
20. x o x x 8 Combination with the inching operation is not available The inching operation does not perform acceleration deceleration processing 9 Use the function for the current value change using positioning data The function is not available for the current value change using the start No for a current value change No 9003 3 LIST OF FUNCTIONS 3 5 Combination of Main and Sub Functions OPR Machine OPR control x x O contol Fast OPR control x x O Major Position 1 axis linear control x O O O O positioning control 2 3 4 axis linear x O AUI O control interpolation control 1 axis fixed feed O O O O control 2 3 4 axis fixed feed x O A control Interpolation 2 axis circular x O interpolation control 3 axis helical x O O x O O interpolation control Speed control 1 to 4 axis x O O O Speed position switching control x O O A Position speed switching control x O A O O Other Current value change x x x x O controls NOP instruction x x x x x O JUMP instruction x x x x x O LOOP to LEND x x x x x O Manual JOG operation Inching operation O x ATO x x control Manual pulse generator operation O 10 Combination with the inching operation is not available The inching operation does not perform acceleration deceleration processing 11 Valid for the reference axis on
21. 1A11 READY nd d 2B10 PGOCOM 2A10 PGOCOM 1B10 PGOCOM 1A10 PGOCOM 2B9 PG05 2A9 PG05 1B9 PG05 1 9 PG05 2B8 PG024 2A8 PG024 1B8 PG024 1 8 PG024 2B7 COM 2A7 1 7 1 7 2B6 COM 2A6 COM 1B6 COM 146 COM 2B5 CHG 2A5 CHG 1B5 CHG 1A5 CHG 2B4 STOP 2A4 STOP 1B4 STOP 1A4 STOP 2B3 DOG 2A3 DOG 1B3 DOG 1A3 DOG 2B2 RLS 2A2 RLS 1B2 RLS 1A2 RLS 2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS 5 WIRING 5 2 Connector for External Devices RD75DO 2B20 2B19 2B18 2B17 2B16 2B15 2B14 2B13 2B12 2B11 2B10 2B9 2B8 2B7 2B6 2B5 2A20 2A19 2A18 2A17 2A16 2A15 2A14 2A13 2A12 2A11 2A10 2A9 2A8 2AT 2A6 2A5 2A4 2A3 2A2 2A1 2B3 2B2 2B1 Er Es 1820 1819 1818 1817 1816 1815 1814 1813 1812 1811 1810 1B9 188 187 186 185 184 183 182 181 1A20 1A19 1A18 1A17 1A16 1A15 1A14 1A13 1A12 1A11 1A10 1A9 1A8 1A7 1A6 1A5 1A4 1A3 1A2 1A1 2B20 PULSE COM 2420 Empty 1B20 PULSERB 1A20 PULSER B 2B19 PULSE COM 2A19 Empty 1B19 PULSER A 1A19 PULSER A 2B18 PULSE R 2A18 PULSE R 1B18 PULSE R 1A18 PULSE R 2B17 PULSE R 2A17 PULSE R 1B17 PULSE R 1A17 PULS
22. 6 OPERATION EXAMPLES The following table lists the labels used for the program examples in this section I O signals or buffer memory areas of the modules shown in the system configuration are described in the programs using the labels For details on the global labels refer to the following MELSEC iQ R Programming Manual Programming Language Specifications iModule label The following table lists the module labels of the RD75 used for the program examples in this section I O signals ofthe RD75 RD75 1 bReady RD75 READY signal 1 RD75 1 bModuleAccessFlag Module access flag X8 RD75_1 bnErrorDetection_Axis 0 Axis 1 Error detection signal XC RD75_1 bnBusy_Axis 0 Axis 1 BUSY signal X14 RD75_1 bnPositioningComplete_Axis 0 Axis 1 Positioning complete signal YO RD75 1 bPLCReady PLC READY signal Global label The following table lists the global labels which are created by a user if necessary used for the program examples in this section Set the following in the global label of the engineering tool External input bFastOPRStartReq Bit VAR GLOBAL X23 Machine OPR setting command command binputSetStartPositioningNoReq X25 Positioning start No setting command binputStartPositioningReq X2B Positioning start request command binputSetJogSpeedReq X2D JOG operation speed setting command binputForwardJogStartReq X2E Forward run JOG bInputReverseJogStartReq 2 Reverse
23. 7 2A7 2B7 external command signal 5 WIRING 5 2 Connector for External Devices Drive unit READY signal 1A11 1B11 2A11 2B11 This signal turns on when the drive unit is normal and can accept the feed pulse READY The RD75 checks the drive unit READY signal and outputs the OPR request if the system is not in the READY state This signal turns off if the drive unit is inoperable like when the control power supply of the drive unit failed If this signal is turned off during positioning the system stops The system does not start even if this signal is turned on again When this signal turns off the OPR complete signal also turns off Drive unit READY common 1A12 1B12 2A12 2B12 Common for the drive unit READY signal RDYCOM Deviation counter clear signal 1A13 1B13 2A13 2B13 This signal is output during machine OPR Note that the signal is not output in the CLEAR count method 2 Example When machine OPR is carried out in the stopper method 2 Speed Pr 46 OPR speed Stopper Creep speed Near point dog Zero signal Pr 55 Deviation counter i ON clear signal output time i lt CLEAR OFF After feed pulse output stops Set the output time of the deviation counter clear signal Pr 55 Deviation counter clear signal output time Use the drive unit that can reset the droop pulse amount in the deviation counter when t
24. B18 Upper limit signal FLS 1A1 1B1 2A1 2B1 The signal is input from the limit switch installed at the upper limit position of the stroke Positioning stops when this signal turns off When the OPR retry function is enabled this becomes the upper limit to find the near point dog signal Lower limit signal RLS 1A2 1B2 2A2 2B2 The signal is input from the limit switch installed at the lower limit position of the stroke Positioning stops when this signal turns off When the OPR retry function is enabled this becomes the lower limit to find the near point dog signal Near point dog signal DOG 143 1B3 2A3 2B3 This signal is used to detect the near point dog for machine OPR The near point dog signal is detected when it turns on Stop signal STOP 1A4 1B4 2A4 2B4 This signal is input to stop positioning When this signal turns on the RD75 stops the positioning being executed After that even if this signal is turned off the system does not start External command signal 1A5 1B5 2A5 2B5 A control switching signal is input during speed position or position speed CHG switching control This signal is used as the input signal of positioning start speed change request and skip request from an external source Set the function to use with this signal in Pr 42 External command function selection Common COM 1A6 1B6 2A6 2B6 Common for the upper lower limit signal near point dog signal stop signal and 1A7 1B
25. E R 2B16 PULSE F 2A16 PULSE F 1B16 PULSE F 1A16 PULSE F 2B15 PULSE F 2A15 PULSE F 1B15 PULSE F 1A15 PULSE F 2B14 CLRCOM 2A14 CLRCOM 1B14 CLRCOM 1A14 CLRCOM 2B13 CLEAR 2A13 CLEAR 1B13 CLEAR 1A13 CLEAR 2B12 RDYCOM 2A12 RDYCOM 1B12 RDYCOM 1A12 RDYCOM 2B11 READY 2A11 READY 1B11 READY 1A11 READY 2B10 PGOCOM 2A10 PGOCOM 1B10 PGOCOM 1A10 PGOCOM 2B9 5 2 9 5 1B9 PG05 1A9 PG05 2B8 PG024 2A8 PG024 1B8 PG024 1A8 PG024 2B7 COM 2AT COM 1B7 COM 1A7 COM 2B6 COM 2A6 COM 1B6 COM 1A6 COM 2B5 CHG 2A5 CHG 1B5 CHG 1A5 CHG 2B4 STOP 2A4 STOP 1B4 STOP 1A4 STOP 2B3 DOG 2A3 DOG 1B3 DOG 1A3 DOG 2B2 RLS 2A2 RLS 1B2 RLS 1A2 RLS 2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS 5 WIRING 5 2 Connector for External Devices 45 46 List of I O signal details Manual pulse generator A 1A19 The pulse signal from the manual pulse generator A phase and B phase is phase PULSER A input Manual pulse generator B 1A20 _ Ifthe A phase leads the B phase the positioning address increases at the rising phase PULSER B and falling edges of each phase If the B phase leads the A phase the positioning address decreases at the Manual pulse generator A 1B19 gt rising and falling edges of each phase common PULSER A When increased When decreased Manual pulse generator B 1 20 TIPP E common PULSER B POLLO d Lag Aphase Pi Vit _ Aphase 4 vif Position
26. The specified positioning data can be executed repeatedly Manual control By inputting a signal into the RD75 from an external source the RD75 will output a random pulse train and perform control operations Use this manual control to move the workpiece to a random position JOG operation and to finely adjust the positioning including the inching operation and manual pulse generator operation Sub function When the main functions are executed this function compensates and limits controls or adds functions Common functions These function perform common controls for when the RD75 is used such as Module data initialization function and Module data backup function 3 LIST OF FUNCTIONS 3 1 Control Function 3 2 Positioning Function The following table lists the start modes for the positioning function Normal start Starts positioning controls by the simplest procedure Major positioning controls and advanced positioning controls can be started in this mode Quick start Analyzes in advance the positioning data executed immediately after the current operation to quickly start the positioning control Major positioning controls can be started in this mode Multiple axes simultaneous start Starts the operation of multiple axes simultaneously according to the pulse output level 3 3 Main Functions The following table shows the overview of the main functions for positioning controls with the RD75
27. UE eee eee RUE LE 59 Appendix 3 Restrictions on Using a Stepping Motor ooococococonononn III IIR 60 Appendix 4 External Dimensions RE hu uum m ew ape xx er dere ee acento we eee UR Ea 61 INDEX 62 REVISIONS oi ace a NN t Med ee DL asp er RUE d 64 WARRANTY Rag RR ty Sib anh op dab DR bia bis sa s bad p E aia rita 65 TRADEMARKS eque noha E cones ose Stee 66 11 RELEVANT MANUALS A IS MELSEC iQ R Positioning Module User s Manual Startup System configuration specifications procedures before Print book SH 081243ENG this manual operation wiring and operation examples of the positioning e Manual module EPUB PDF MELSEC iQ R Positioning Module User s Manual Application Functions parameter settings I O signals buffer memory Print book SH 081245ENG programming and troubleshooting of the positioning module e Manual EPUB PDF MELSEC iQ R Programming Manual Instructions Standard Instructions for the CPU module dedicated instructions for e Manual Functions Function Blocks the intelligent function modules and standard functions EPUB SH 081266ENG function blocks PDF This manual does not include detailed information on the following General specifications Applicable CPU modules and the number of mountable modules Installati
28. al confers no industrial property rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2014 MITSUBISHI ELECTRIC CORPORATION 64 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty
29. anded wire External wiring connector A6CON1 A6CON2 A6CONA sold separately Maximum output pulse 200000 pulse s 5000000 pulse s 200000 pulse s 5000000 pulse s Manual pulse generator input maximum frequency 1000 pulse s Manual pulse generator 1 pulse input magnification 1 to 10000 times Maximum connection distance between 2m 10m 2m 10m servos Number of write accesses to a flash ROM 100000 times maximum Number of occupied I O points 32 points I O assignment Intelligent 32 points Internal current consumption 5VDC 0 38A 0 54A 0 42A 0 78A External Height 106mm dimensions width 27 8mm Depth 110mm Weight 0 14kg 0 15kg 0 15kg 0 15kg 1 The RD75P2 and RD75P4 are modules of transistor output system and the RD75D2 and RD75D4 are modules of differential driver output system 2 The speed position switching control ABS mode can be used only when the control unit is degree 3 Analysis time of positioning data varies depending on the operating status of the partner axis The start time and operation timing described in this manual are for the case when all axes stop the operation 4 The start time of the quick start function indicates the period from the acceptance of the start trigger positioning start signal external command signal to the start of pulse output after the positioning data analysis is completed 5 The function can
30. arameter 1 The negative logic is set for all terminals in the above example 2 The upper limit signal FLS and lower limit signal RLS of the RD75DLI are used for the OPR retry function Set these signals on the inward side of the limit switches for the servo amplifier 3 These are the limit switches for the servo amplifier for stop 4 This indicates the distance between the RD75DLI and the servo amplifier 5 For logic for the RD75DLI and the servo amplifier refer to the following Page 18 Specifications of Input output Interfaces with External Devices The RD75DLI is initially set to negative logic APPENDICES Appendix 1 External Connection 58 Appendix 2 Device List The positioning system using the RD75 is configured with the following devicesl 1 Positioning module RD75P2 23 I RD75P4 RD75D2 No of control axes RD75D4 pres Open collector output system Dese Differential driver output system 2 Drive unit Servo amplifier Manual pulse generator Recommended MR HDP01 manufactured by Mitsubishi APPENDICES 9 Appendix 2 Device List 5 Appendix 3 Restrictions on Using a Stepping Motor This section describes restrictions on using a stepping motor When the S curve acceleration deceleration is used For an axis where a stepping motor is connected executing the S curve acceleration deceleration may cause step out Before using the S curve acceleration deceleration check that
31. ation time 1 to 8388608ms Four patterns can be set for each of acceleration time and deceleration time Sudden stop deceleration time 1 to 8388608ms 2 SPECIFICATIONS 2 1 Performance Specifications Item RD75P2 RD75D2 RD75P4 RD75D4 Start time 3 1 axis linear control 0 3ms 1 5ms 1 axis speed control 0 3ms 1 5ms 2 axis linear interpolation 0 45ms 1 5ms 8 control composite speed 2 axis linear interpolation 0 45ms 1 5ms control reference axis speed 2 axis circular interpolation 0 63ms 2 0ms control 2 axis speed control 0 63ms 1 5ms 3 axis linear interpolation 0 93ms 1 7ms control composite speed 3 axis linear interpolation 0 93ms 1 7ms control reference axis speed 3 axis helical interpolation 1 8ms 2 6ms 8 control 3 axis speed control 0 93ms 1 7ms 4 axis linear control 1 08ms 1 8ms 8 4 axis speed control 1 08ms 1 8ms Quick start Start with the positioning start 8us function signal Start with the external 20us command signal Start time adjustment function Start time when the inter module synchronization function is used 8 0 00 to 10000 00ms 0 01ms unit 8us External connections 40 pin connector When A6CON1 or A6CON4 is used Applicable wire size 7 When A6CON2 is used 0 088mn to 0 3mni 28 to 22 AWG stranded wire 0 088mn to 0 24mni 28 to 24 AWG str
32. be set only when the quick start function is used 6 The start time of when the inter module synchronization function is used is the period from the acceptance of the start trigger start of inter module synchronization cycle to the start of pulse output after the positioning data analysis is completed 7 Use cables with outside diameter of 1 3mm or shorter to connect 40 cables to the connector In addition consider the amount of current to be used and select appropriate cables 8 The value in parentheses indicates the start time of when Q compatible mode is set For Q compatible mode refer to the following MELSEC iQ R Positioning Module User s Manual Application 2 SPECIFICATIONS 17 2 1 Performance Specifications 18 2 2 External Devices Electrical specifications of I O signals Specifications of Input output Interfaces with Drive unit READY signal READY 24VDC 5mA 19 2 to 26 4VDC 17 5VDC or 7VDC or lower Approx 4 7kQ 4ms or less Stop signal STOP higher 3 5mA or 1 7mA or lower Upper limit signal FLS higher Lower limit signal RLS Zero signal PG05 PGO024 5VDC 5mA 4 5 to 6 1VDC 2VDC or higher 0 5VDC or lower Approx 6200 1ms or less 2mA or higher 0 5mA or lower 24VDC 5mA 12 to 26 4VDC 10VDC or higher 3VDC or lower Approx 4 7kQ 1ms or less 3mA or higher 0 2mA or lower ON 3us or ij 4 OFF 1ms or more 315 or less Differential receiver eq
33. cals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property Notwithstanding the above restrictions Mitsubishi may in its sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTS are required For details please contact the Mitsubishi representative in your region INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC iQ R series programmable controllers This manual describes the specifications procedures before operation wiring and programming of the relevant products listed below Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ R series programmable controller to handle the product correctly When applying the program examples provided in this manual to an actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual Relevant products RD75P2 RD75P4 RD75D2 RD75D4 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES Method of ensuring compliance To ensure
34. describes the overall configuration of the system using the RD75 and lists the devices configuring the system 5 1 Wiring Precautions Check the terminal layouts and wire the RD75 correctly For the terminal layouts refer to the following 5 Page 44 Signal layouts of connectors for external devices 40 5 WIRING 5 1 Wiring Precautions Connectors for external devices Tighten the connector screws within the specified torque range Connector screw M2 6 0 20 to 0 29N m Use copper wire with a temperature rating of 75 or higher for the connector Use UL listed connectors if necessary for UL compliance The positions of PULSE COM terminals differ between the QD75DLI and the RD75DLI Therefore if the same 40 pin connectors for the QD75DLI are used for the RD75DLI additional wiring to the 40 pin connectors 2B20 and 2B19 pins is required Connectors for external devices to be used for the RD75 are sold separately The following tables list the applicable connectors and the reference product of a crimping tool 40 connectors Soldering type connector straight type A6CON1 0 088 to 0 3mm 28 to 22 AWG stranded wire Crimping type connector straight type A6CON2 0 088 to 0 24mm 28 to 24 AWG stranded wire Soldering type connector dual purpose straight A6CON4 0 088 to 0 3mm 28 to 22 AWG stranded wire oblique type 1 Use wire with a sheath outside diame
35. does not turn on when the speed change function or override function is used to make deceleration 7 No limitation for combination use with other functions Satisfaction judgment of interruption conditions is performed as needed 34 3 LIST OF FUNCTIONS 3 6 Combination Among Sub Functions Function specific OPR retry function x x x x x to machine OPR op shift function x x x x x Function to Backlash compensation O O O O O compensate function control Electronic gear function O Near pass function O O O x Output timing selection of near O pass control Function to limit Speed limit function O O x O control Torque limit function O O O x O Software stroke limit function O O O x O Hardware stroke limit function O O O x O Functions that Speed change function O O O x O change control Override function O O O x O details Acceleration deceleration time O O O x O change function Torque change function O O O x O Target position change function O O x O Function related Start time adjustment function x x x O to positioning Restart function x x x O start Pre reading start function x x x O Absolute position restoration function x x x x Function related Step function O O O to positioning Stop command processing for O x Stop deceleration stop function Continuous operation interrupt O O O x O function Stop
36. duction information 16 digits of the module 1 1 LED Display Specifications This section lists LED display specifications LI Off On Flashing at 400ms intervals Normal operation RUN M ERR LI The axes stopped AX3 0 1 O The axes on standby 4 O 2 O RUN N ERR The axis in operation AX3 0 1 m 4 O 2 O Operation failure RUN E ERR E Minor error AX3 H AX1 4 O 2 O N ERR Moderate error AX3 0 AX1 H AX4 O AX2 O RUN O ERR M AX3 H AX1 H 4 O 2 O RUN O ERR O AX3 0 AX1 H 4 O 2 O Online module change RUN O ERR O When the target module is selected AX3 0 AX1 H 4 O 2 O RUN O ERR LI When the target module is ready to be replaced AX3 0 AX1 H AX4 O 2 O 1 4 1 PART NAMES 1 1 LED Display Specifications 1 PART NAMES 1 5 1 1 LED Display Specifications 16 2 SPECIFICATIONS This chapter describes the performance specifications of the RD75 2 1 Performance Specifications This section lists the performance specifications of the RD75 Item RD75P2 607502 RD75P4 RD75D4 1 Number of controlled axes 2 axes 4 axes Interpolation function 2 axis linear interpolation 2 3 or 4 axis linear interpolation 2 axis circular interpolation 2 axis circular interpolation 3 axis helical interpolation Control method PTP Point To Point cont
37. dule Failure to do so may result in electric shock or cause the module to fail or malfunction Installation Precautions NCAUTION Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit Failure to do so may result in electric shock fire malfunction or damage to or deterioration of the product To mount a module place the concave part s located at the bottom onto the guide s of the base unit and push in the module until the hook s located at the top snaps into place Incorrect interconnection may cause malfunction failure or drop of the module O When using the programmable controller in an environment of frequent vibrations fix the module with a screw Tighten the screws within the specified torque range Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction When using an extension cable connect it to the extension cable connector of the base unit securely Check the connection for looseness Poor contact may cause malfunction O When using an SD memory card fully insert it into the SD memory card slot Check that it is inserted completely Poor contact may cause malfunction O Securely insert an extended SRAM cassette into the cassette connector of the CPU module After insertion close the cassette cover a
38. edures for the connectors For the wiring methods and installation and removal procedures refer to the following LL MELSEC iQ R Module Configuration Manual 5 WIRING 5 1 Wiring Precautions 43 44 5 2 Signal layouts of connectors for external devices Connector for External Devices This section lists signal layouts of RD75 connectors for external devices RD75PO UN ER 2B20 Empty 2A20 Empty 1B20 PULSERB 1A20 PULSER B Sel e ats 2B19 Empty 2A19 Empty 1B19 PULSERA 1A19 PULSER A 2B18 0 0 2A18 1B18 D 0 1A18 2B17 n 0 2A17 1B17 n 0 1A17 2B18 PULSE COM 2A18 PULSE COM 1B18 PULSE COM 1A18 PULSE COM 2B16 0 0 2A16 1B16 0 0 1A16 2815 0 2415 1815 D 0 1415 2B17 PULSER 2A17 PULSE R 1B17 PULSE R 1A17 PULSE R 2B14 0 0 2 14 1B14 n n 1A14 2B13 n 0 2 13 1B13 n 0 1A13 moris Me 2B16 PULSE COM 2A16 PULSE COM 1B16 PULSE COM 1A16 PULSE COM 2B11 2A11 1B11 1A11 Solo 833 a 2B15 PULSE F 2A15 PULSE F 1B15 PULSE F 1A15 PULSE F 2B9 2A9 1B9 149 208 n p a8 188 n hias 2B14 CLRCOM 2A14 CLRCOM 1B14 CLRCOM 1A14 CLRCOM 287 o n 287 1 7 o o 147 286 n 286 1B6 n n 1A6 2B13 CLEAR 2A13 CLEAR 1B13 CLEAR 1A13 CLEAR 285 245 1 5 HA5 284 2 4 184 1A4 xar eed les 2B12 RDYCOM 2A12 RDYCOM 1B12 RDYCOM 1A12 RDYCOM 2 11 READY 2A11 READY 1B11 READY
39. eign matter can cause a fire failure or malfunction A protective film is attached to the top of the module to prevent foreign matter such as wire chips from entering the module during wiring Do not remove the film during wiring Remove it for heat dissipation before system operation Programmable controllers must be installed in control panels Connect the main power supply to the power supply module in the control panel through a relay terminal block Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock For wiring refer to the MELSEC iQ R Module Configuration Manual For Ethernet cables to be used in the system select the ones that meet the specifications in the user s manual for the module used If not normal data transmission is not guaranteed Startup and Maintenance Precautions NWARNING O Do not touch any terminal while power is on Doing so will cause electric shock or malfunction O Correctly connect the battery connector Do not charge disassemble heat short circuit solder or throw the battery into the fire Also do not expose it to liquid or strong shock Doing so will cause the battery to produce heat explode ignite or leak resulting in injury and fire O Shut off the external power supply all phases used in the system before cleaning the module or retightening the terminal screws connector screws or modu
40. ernal dimensions 61 External I O signal logic switching function 26 External I O signal monitor function 26 External wiring connector 17 OP shift function 25 Operation examples 51 F OPR control u u z yaa a es 22 OPR retry function 25 Fast OPR control 23 Output timing selection of near pass control 25 Fixed feed control 23 Override function 25 Performance specifications 16 Positioning start mode 23 Position speed switching control 23 Pre reading start function 25 Program 56 Pulse output PULSE F 46 Pulse output F PULSE Ft 46 Pulse output PULSE F 46 Pulse output F common PULSE COM 46 Pulse output R PULSE R 46 Pulse output R PULSE R 46 Pulse output PULSE 46 Pulse output R common PULSE COM 46 Q Quick start VY e Q 23 R Repeated start FOR 24 Restrictions on a system using a stepping motor 60 RUN LED RR Ex RE 14 S Simultaneous start 24 Skip
41. ervo amplifier A unit that amplifies pulses that are output from the positioning module to control a motor The unit is provided with a servomotor or stepping motor It is also called a servo amplifier Module label A label that represents one of memory areas I O signals and buffer memory areas specific to each module in a given character string For the module used GX Works3 automatically generates this label which can be used as a global label PERIPHERALS The following figure shows the peripherals when the RD75 is used Positioning module Drive unit Manual pulse generator APRA Machine system inputs switches Near point dog Limit switch External command signal Stop signal eoccccccccce 13 1 PART NAMES This chapter describes the part names of the RD75 RD75P2 RD75P4 RD75D2 RD75D4 1 1 2 1 ES 3 SMS 4 Ax 2 3 vis con was con 5 1 RUN LED For details refer to the following 2 ERR LED C Page 14 LED Display Specifications 5 3 Axis display LED AX1 to AX4 4 Connectors for external devices Connects to a drive unit mechanical system input or manual pulse generator For the signal layout refer to the following C Page 44 Signal layouts of connectors for external devices AX1 Axis 1 AX2 Axis 2 AX3 Axis 3 AX4 Axis 4 5 Production information marking Shows the pro
42. f when an upper limit switch is not used 2 Wiring of when a lower limit switch is not used 3 Either polarity can be connected to the common COM 48 5 WIRING 5 2 Connector for External Devices input signal ON OFF status The input signal ON OFF status is defined by the external wiring and logic setting The example using the near point dog signal DOG is shown below Negative logic initial value The operation is the same if the other input signals are used When the voltage is not applied DOG COM When the voltage is applied 24VDC DOG COM Positive logic When the voltage is not applied 24VDC j m DOG COM When the voltage is applied 24VDC DOG COM 1 Setthe logic in Pr 22 Input signal logic selection For details on the setting refer to the following LA MELSEC iQ R Positioning Module User s Manual Application 2 When using the upper limit signal FLS or the lower limit signal RLS wire it as b contact normally closed contact with the negative logic being set Positioning will stop when this signal turns off Logic setting and internal circuit For the RD75 the case where the internal circuit photocoupler is off with the negative logic being set is defined as input signal OFF Reversely the case where the internal circuit photocoupler is off with the positive logic being set is defined as input signal
43. he RD75 turns on this signal Note The deviation counter clear signal is output by the RD75 during machine OPR A user cannot output the signal at will Deviation counter clear 1A14 1B14 2A14 2B14 Common for the deviation counter clear signal common CLRCOM 5 WIRING 47 5 2 Connector for External Devices Internal circuit of input output interface The internal circuit of interface with external devices for the RD75 axis 1 is shown below Input common to the RD75 Wiring is necessary for positioning A Wiring is necessary depending on the situation External wiring Pin No Internal circuit Signal name Need for wiring 1A3 Near point dog signal DOG A 2 1A1 Upper limit signal FLS Ku ai 1A2 Lower limit signal RLS HA 144 Stop signal STOP A Ext d 1 5 xternal CHG signal Common COM PULSER EE Manual pulse generator PULSER A PULSER Manual pulse generator A Y B phase PULSER B Manual pulse 1B20 generator MR HDP01 1A11 e Drive unit READY READY ES Drive unit 1A12 READY common RDY COM O 148 1 PG024 Zero signal 1 9 A Y Fa 4 PG05 1 10 Zero signal common PG0 COM 1 Wiring o
44. he control panel so that only qualified maintenance personnel can operate it O Before handling the module touch a conducting object such as a grounded metal to discharge the static electricity from the human body Failure to do so may cause the module to fail or malfunction O Before testing the operation set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition O Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Operating Precautions NCAUTION When changing data and operating status and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module read relevant manuals carefully and ensure the safety before operation Incorrect change or modification may cause system malfunction damage to the machines or accidents Do not power off the programmable controller or reset the CPU module while the setting values in the buffer memory are being written to the flash ROM in the module Doing so will make the data in the flash ROM undefined The values need to be set in the buffer memory and written to the flash ROM again Doing so can cause malfunction or failure of the module Note that when the reference axis speed is specified for interpolation operation the speed of the part
45. ifferential driver common terminal as a reference is shown 57 Page 48 Internal circuit of input output interface PULSE SIGN PULSE Pigh mgn PULSE F AER gn PULSER em PULSER ge CW CCW PULSE High mgn PULSE F L pa PULSER EA i High PULSER Hob 497 B phase PULSEF iow Low High High PULSE F Low LI LJ des PULSER High nign puiser Hoh Es 20 2 SPECIFICATIONS 2 2 Specifications of Input output Interfaces with External Devices B Pr 5 Pulse output mode and Pr 23 Output signal logic selection Set Pr 5 Pulse output mode and Pr 23 Output signal logic selection according to the specifications of a connected servo amplifier If not the motor may rotate in the reverse direction or may not rotate at all Connection examples with a MELSERVO J4 series servo amplifier are shown below RD75PO W CCW Negative logi Negative logi CW CC egative logic egative logic MR J4 DA Positive logic Positive logic servo a
46. ilure to do so may result in malfunction due to noise O During control of an inductive load such as a lamp heater or solenoid valve a large current approximately ten times greater than normal may flow when the output is turned from off to on Therefore use a module that has a sufficient current rating After the CPU module is powered on or is reset the time taken to enter the RUN status varies depending on the system configuration parameter settings and or program size Design circuits so that the entire system will always operate safely regardless of the time O Do not power off the programmable controller or reset the CPU module while the settings are being written Doing so will make the data in the flash ROM undefined The values need to be set in the buffer memory and written to the flash ROM again Doing so also may cause malfunction or failure of the module When changing the operating status of the CPU module from external devices such as the remote RUN STOP functions select Do Not OPEN in Program for Open Method Setting in the module parameters If OPEN in Program is selected an execution of the remote STOP function causes the communication line to close Consequently the CPU module cannot reopen the line and external devices cannot execute the remote RUN function Installation Precautions NWARNING O Shut off the external power supply all phases used in the system before mounting or removing the mo
47. ing eae Positioning BASEL address l 1 1 1 1 1 1 1 address 1 1 1 1 1 1 1 1 Differential driver common 2B19 The potential difference between the common of differential driver of the RD75 PULSE COM 2B20 and the common of the differential receiver of the drive unit differential driver compatible is equalized RD75DLI only Zero signal 24V PG024 1A8 1B8 2A8 2B8 The zero signal is input for machine OPR The zero signal of pulse encoder is Zero signal 5V PG05 1A9 1B9 2A9 2B9 used The signal is used as well when the machine OPR method is the stopper method and the OPR complete is input from an external source The zero signal is detected when it turns on Zero signal common 1A10 1B10 2A10 2B10 Common for the zero signal 45V and zero signal 24V PGOCOM Pulse output F PULSE F 1A15 1B15 2A15 2B15 The positioning pulses and pulse codes are output to the drive unit compatible Pulse output F common 1A16 1B16 2A16 2B16 with the transistor output system RD75PLI only PULSE COM Pulse output R PULSE R 1A17 1B17 2A17 2B17 Pulse output R common 1A18 1B18 2A18 2B18 PULSE COM Pulse output F PULSE 1A15 1B15 2A15 2B15 The positioning pulses and pulse codes are output to the drive unit compatible F with the differential driver output system RD75DO only Pulse output F PULSE F 1416 1B16 2A16 2B16 Pulse output R PULSE 1A17 1B17 2A17 2B17 R Pulse output R PULSE R 1418 1B18 2A18 2
48. ith FOR condition to the block start data set in NEXT until the conditions set in Condition data are established Manual control Inter module synchronization function simultaneous start of multiple modules JOG operation Outputs pulses to the drive unit while JOG start signal is on Inching operation Outputs pulses corresponding to a minute movement amount by the manual operation to the drive unit Performs the fine adjustment with JOG start signal Manual pulse generator operation Outputs pulses commanded with the manual pulse generator to the drive unit Performs the fine adjustment and others at the pulse level Starts pulse output at the same timing of inter module synchronization cycle after the acceptance of a positioning start trigger With Major positioning control Advanced positioning control whether or not to continuously execute the positioning data can be set with Operation pattern The following shows the overview of Operation pattern Independent positioning control When Independent positioning control is set for the operation pattern of the started positioning data only the specified Positioning complete positioning data will be executed and the positioning will end Continuous positioning control When Continuous positioning control is set for the operation pattern of the started positioning data after the specified positioning data is executed the program will stop once and
49. ity and reliability of the control on the system Overall configuration The program examples show the programs of following operations Machine OPR execution Execution of 1 axis linear control using axis 1 JOG operation execution The following table shows the overall configuration of the positioning control operation examples Note that the programs in the list are the ones using the axis 1 only No Program name Description 1 PLC READY signal YO ON program Notifies the RD75 that the CPU module is normal before the start of positioning control 2 Positioning start No setting program Sets the positioning data that are executed with a positioning start program The operation example is the case when the start No is for machine OPR or the positioning data No 1 of the axis 1 is used 3 Positioning start program Starts the machine OPR or the positioning control using positioning data 4 JOG operation setting program Sets the JOG operation speed 6 JOG operation execution program Starts the JOG operation Programming procedure Take the following steps to create a program for the positioning control 1 Start creating the program 2 Setthe module parameters for the initial setting Page 53 Module parameters 3 Setthe module extension parameters for positioning data r Page 54 Module extension parameters 4 Program examples of each control 6 OPERATION EXAMPLES 51 52 S
50. le fixing screws Failure to do so may result in electric shock Startup and Maintenance Precautions NCAUTION O When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification parameter change forced output or operating status change of a running programmable controller read the relevant manuals carefully and ensure that the operation is safe before proceeding Improper operation may damage machines or cause accidents O Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be taken between the external device and CPU module in case of a communication failure Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Use any radio communication device such as a cellular phone or PHS Personal Handy phone System more than 25cm away in all directions from the programmable controller Failure to do so may cause malfunction O Shut off the external power supply all phases used in the system before mounting or
51. ly 12 Valid for only in the case where the deceleration start is made during position control 13 No limitation for combination use with other functions Satisfaction judgment of interruption conditions is performed as needed 3 LIST OF FUNCTIONS 3 5 Combination of Main and Sub Functions 31 32 3 6 Combination Among Sub Functions The following shows the combinations of sub functions and sub functions during the control of the main functions O Combination possible A Combination limited x Combination not possible Function specific OPR retry function to machine OPR op shift function O O O x Function to Backlash compensation O O O O compensate function control Electronic gear function O Near pass function x x O O Output timing selection of near x x O O pass control Function to limit Speed limit function O control Torque limit function O O O O O Software stroke limit function O O O Hardware stroke limit function O O O O O Functions that Speed change function O O O change control Override function a A O O details Acceleration deceleration time O O O O O change function Torque change function O O O O O Target position change function x x O O O Function related Start time adjustment function x x O to positioning Restart function x x O O O Pre reading star
52. mplifier PULSE SIGN Negative logic Negative logic 24VDC Positive logic Positive logic OPC A phase B Negative logic Negative logic RD75PO DOCOM phase Negative logic Positive logic Positive logic Negative logic PULSE F E e Positive logic Positive logic PULSE COM n E PULSE R m tl PULSE COM _L i T SD RD75DLI CW CCW Negative logic Positive logic MR J4 DIA Positive logic Negative logic RD75DO servo amplifier PULSE SIGN Negative logic Positive logic Positive logic Negative logic PULSE F A PP Negative logic Negative logic PULSE F E phase Negative logic Positive logic fo Positive logic Negative logic PULSE R Qa Positive logic Positive logic PULSER NG 2 SPECIFICATIONS 2 2 Specifications of Input output Interfaces with External Devices 21 22 3 LIST OF FUNCTIONS 3 1 Control Function Several functions are provided for the RD75 For details on each function refer to the following LA MELSEC iQ R Positioning Module User s Manual Application In this manual and LA MELSEC iQ R Positioning Module User s Manual Application the functions of the RD75 are classified as follows to explain the positioning module Positioning function This function starts the positioning operation to a specified position by using the positioning data block start data and condition data Main functi
53. n is set the operation of the next data starts and this instruction is not executed JUMP instruction Unconditionally or conditionally jumps to the specified positioning data No LOOP Performs the loop control with repeated LOOP to LEND LEND Returns to the beginning of the loop control with repeated LOOP to LEND Advanced Block start With one start executes the positioning data in a random block with the set order positioning control Normal start Condition start Judges the condition set in Condition data for the specified positioning data and executes Block start data When the condition is established Block start data is executed When not established that block start data is ignored and the next point s block start data is executed Wait start Judges the condition set in Condition data for the specified positioning data and executes Block start data When the condition is established Block start data is executed When not established the control stops waits until the condition is established Simultaneous start Simultaneously executes the positioning data having the number for the axis specified with Condition data Outputs pulses at the same timing Repeated start FOR loop Repeats the program from the block start data set with FOR loop to the block start data set in NEXT for the specified number of times Repeated start FOR condition Repeats the program from the block start data set w
54. nction x Near pass function O O O Output timing selection of near O O O O O pass control Function to limit Speed limit function x e O control Torque limit function x O Software stroke limit function x O O Hardware stroke limit function x O O O O Functions that Speed change function x O O A O O change control Override function x O A details Acceleration deceleration time x change function Torque change function x O O Target position change function x O Function related Start time adjustment function x O O O O to positioning Restart function x O O O O O x Pre reading start function x g O O O Absolute position restoration function x x x x x O Function related Step function x O O to positioning Stop command processing for x O stop deceleration stop function Continuous operation interrupt x O O O function Stop processing function x O Other functions Skip function x O O M code output function O O O O O Teaching function nn x x x x Command in position function x O O O O Acceleration deceleration x O O O processing function Deceleration start flag function O O During uncompleted OPR x O gt O operation setting function Interrupt function 19 O O O O O 12 Deceleration start flag does not turn on when the speed change func
55. nd check that the cassette is inserted completely Poor contact may cause malfunction Do not directly touch any conductive parts and electronic components of the module SD memory card extended SRAM cassette or connector Doing so can cause malfunction or failure of the module Wiring Precautions NWARNING O Shut off the external power supply all phases used in the system before installation and wiring Failure to do so may result in electric shock or cause the module to fail or malfunction O After installation and wiring attach the included terminal cover to the module before turning it on for operation Failure to do so may result in electric shock Wiring Precautions NCAUTION Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less Failure to do so may result in electric shock or malfunction Use applicable solderless terminals and tighten them within the specified torque range If any spade solderless terminal is used it may be disconnected when the terminal screw comes loose resulting in failure Check the rated voltage and signal layout before wiring to the module and connect the cables correctly Connecting a power supply with a different voltage rating or incorrect wiring may cause fire or failure Connectors for external devices must be crimped or pressed with the tool specified by the manufacturer or must be correctly soldered
56. ner axis 2nd 3rd or 4th axis may exceed the speed limit value O Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Disposal Precautions NCAUTION When disposing of this product treat it as industrial waste O When disposing of batteries separate them from other wastes according to the local regulations For details on battery regulations in EU member states refer to the MELSEC iQ R Module Configuration Manual Transportation Precautions NCAUTION When transporting lithium batteries follow the transportation regulations For details on the regulated models refer to the MELSEC iQ R Module Configuration Manual The halogens such as fluorine chlorine bromine and iodine which are contained in a fumigant used for disinfection and pest control of wood packaging materials may cause failure of the product Prevent the entry of fumigant residues into the product or consider other methods such as heat treatment instead of fumigation The disinfection and pest control measures must be applied to unprocessed raw wood CONDITIONS OF USE FOR THE PRODUCT 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe function are systematically or au
57. ng Restart function O O O O Pre reading start function O O Absolute position restoration function x x x x x Function related Step function O O to positioning Stop command processing for O O O O stop deceleration stop function Continuous operation interrupt O function Stop processing function O O O O Other functions Skip function O O O AU M code output function O O O AU Teaching function x x x x x Command in position function Acceleration deceleration O O O O O processing function Deceleration start flag function O O O O O During uncompleted OPR O O O O O operation setting function Interrupt function 1 O O O O O 9 For the control using External command signal only one of the functions can be used 10 M code ON signals X4 X5 X6 X7 do not turn on when the M code output is set to the AFTER mode When 1 AFTER mode is set in Pr 18 M code ON signal output timing 11 No limitation for combination use with other functions Satisfaction judgment of interruption conditions is performed as needed 36 3 LIST OF FUNCTIONS 3 6 Combination Among Sub Functions Function specific OPR retry function x x O to machine OPR op shift function x x O O Function to Backlash compensation O O O compensate function control Electronic gear fu
58. nge function O O O O O change control Override function O O O O O details Acceleration deceleration time O O O O O change function Torque change function O O O O O Target position change function O O Function related Start time adjustment function O O O O to positioning Restart function O O O O O dsd Pre reading start function O O O O Absolute position restoration function x x x x x Function related Step function O O O O O to positioning Stop command processing for O O O O O stop deceleration stop function Continuous operation interrupt O O O O O function Stop processing function O O O O O Other functions Skip function O O O M code output function O O O O O Teaching function x x x x x Command in position function O O Acceleration deceleration O O O O processing function Deceleration start flag function O O e O During uncompleted OPR O O O operation setting function Interrupt function O O 3 limitation for combination use with other functions Satisfaction judgment of interruption conditions is performed as needed 3 LIST OF FUNCTIONS 3 6 Combination Among Sub Functions 33 Function specific OPR retry function A O O x to machine OPR op shift function O x Function to Backlash compensation O O O O O compensate function cont
59. ntrol 22 Current value change 24 Manual 22 Manual pulse generator A common PULSER A 46 D Manual pulse generator A phase PULSER 46 AE Manual pulse generator B common PULSER B 46 Deceleration start flag function 26 Manual pulse generator B phase PULSER B 46 Deviation counter clear common CLRCOM 47 Manual pulse generator operation 24 Deviation counter clear signal CLEAR 47 Maximum connection distance between servos 17 Device liSt opa uy Qu 59 Maximum output pulse 17 Differential driver common PULSE 46 Module data backup function 26 Drive unit READY common RDYCOM 47 Module data initialization function 26 Drive unit READY signal READY 47 Multiple axes simultaneous start 23 During uncompleted OPR operation setting function rcx 26 N E Near pass function 25 Near point dog signal DOG 46 Electronic gear function 25 NOP instruction 24 ERR z l aaa alus acutus 14 Normalstart 23 External command signal CHG 46 Number of controlledaxes 16 External 58 Number of occupied I O points 17 Ext
60. on For details refer to the following LLIMELSEC iQ R Module Configuration Manual This manual does not include information on the module function blocks For details refer to the Function Block Reference for the module use e Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool e Manual has the following features Required information can be cross searched in multiple manuals Other manuals can be accessed from the links in the manual The hardware specifications of each part can be found from the product figures Pages that users often browse can be bookmarked TERMS Unless otherwise specified this manual uses the following terms GX Works3 The product name of the software package for the MELSEC programmable controllers RD75 The abbreviation for the MELSEC iQ R series positioning module RD75PLI A generic term for the positioning module the RD75P2 and RD75P4 RD75DLI A generic term for the positioning module the RD75D2 and RD75D4 Engineering tool The product name of the software package for the MELSEC programmable controllers Global label A label that is valid for all the program data when multiple program data are created in the project The global label has two types a module specific label module label which is generated automatically by GX Works3 and an optional label which can be created for any specified device Drive unit s
61. ons BIOPR control The OPR control function establishes a start point for performing the positioning control and performs positioning toward that start point This function is used to return a workpiece located at a position other than the OP when the power is turned on or after the positioning stops to the OP The OPR control is preregistered in the RD75 as Positioning start data No 9001 Machine OPR or Positioning start data No 9002 Fast OPR iMajor positioning control This control is performed using the positioning data stored in the RD75 The positioning controls such as the position control and speed control are executed by setting the required items in this Positioning data and starting that positioning data Operation pattern can be set in this Positioning data and with this whether to perform the control with continuous positioning data ex positioning data No 1 No 2 No 3 can be set Advanced positioning control This control executes the positioning data stored in the RD75 by using Block start data The following types of applied positioning control can be performed Random blocks handling several continuing positioning data items as blocks can be executed in the specified order Condition judgment can be added to the position control and speed control The operation of the positioning data that is set for multiple axes can be started simultaneously Pulses are output simultaneously to multiple servos
62. point 3 axis helical interpolation control Positions a target using a helical path to a specified position Specify the position by specifying the end point address directly or by specifying the relative distance from the current position movement amount Speed control Speed control 1 axis speed control 2 axis speed control 3 axis speed control 4 axis speed control Continuously outputs the pulses corresponding to the command speed set in the positioning data Speed position switching control Performs the speed control and position control Positioning with the specified address or movement amount immediately after that by turning on Speed position Switching signal Position speed switching control Performs the position control and speed control Continuous output of the pulses corresponding to the specified command speed immediately after that by turning on Position speed switching signal 3 LIST OF FUNCTIONS 3 2 Positioning Function 23 Major positioning Other controls Current value change Changes Md 20 Current feed value to the address set in the positioning data control The following two methods can be used Machine feed value cannot be changed Current value change using positioning data Current value change using the start No for a current value change No 9003 NOP instruction A control method that is not executed When the NOP instructio
63. rademarks or trademarks of Microsoft Corporation in the United States Japan and other countries Intel Pentium and Celeron are either registered trademarks or trademarks of Intel Corporation in the United States and other countries Ethernet is a trademark of Xerox Corp The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademarks of their respective companies DP SH NA 081243ENG C SH NA 081243ENG C 1501 MEE MODEL RD75 U IN E MODEL CODE 13JX06 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
64. rcuit flows for a long time it may cause smoke and fire To prevent this configure an external safety circuit such as a fuse O Configure a circuit so that the programmable controller is turned on first and then the external power supply If the external power supply is turned on first an accident may occur due to an incorrect output or malfunction O For the operating status of each station after a communication failure refer to manuals relevant to the network Incorrect output or malfunction due to a communication failure may result in an accident Design Precautions NWARNING When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification parameter change forced output or operating status change of a running programmable controller read the relevant manuals carefully and ensure that the operation is safe before proceeding Improper operation may damage machines or cause accidents O Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be
65. rns on PULSE 15 10 i PULSE F 16 E Lu 11 PULSE 17 35 2 PULSE R 18 T 36 15 CLEAR 13 41 _ mm CLEAR COM 14 7 7 1 7 46 READY 11 49 i RDY COM 12 1 7 1 7 20 1 pog 12 1 1 PGO5 9 DENN 8 i PG0 COM 10 9 i COM 6 PAVDC Ne dy COM 711 i 24VDC 0 5 A Plate Near point dog 24V power DOG 3 Cepia d zl supply 1 ns i Lowerlimit 2 Main circuit power Foreedstp 4 RT 2 T TTT Sp somo on STOP 4 Extemal command I Reset E SE At X 5V IA v L lt Proportinal control PULSE A B19 P Torque limit B 1 L Forward run stroke end ELE m Reverse run stroke end ESE a E ov O amp T LSN 44 277 56 DO COM 47 Manual pulse generator MR HDP01 Dicom A Fault 48 Zero speed detection 28 23 During torque limit TLC 25 In position INP 24 Monitor output ex s PTR 1 Analog torque limit Y TLA 27 3 a Analog monitor 1 10V maximum current LG 28 ts i 410VDC 2m or shorter shorter 50 Plate 2 MO2 IND Analog monitor 2 m or snoer When connecting the transistor output make connection as shown below MR J4 CN1 24006 12 H DI COM 20 21 RD75PO 6 47 PULSEF 15 PP 10 PULSE COM16 PG T PULSER 17 NP 35 PULSE COM 18 NG 36 1 The logic of each I O terminal can be changed with Pr 22 Input signal logic selection and Pr 23 Output signal logic selection of detailed p
66. rol O Other Current value change X x x x x x x controls NOP instruction x x x x x x x JUMP instruction x x x x x x x LOOP to LEND x x x x x x x Manual JOG operation Inching operation A A O x x x x control Manual pulse generator operation x x O x x x x 5 Invalid during creep speed 6 Combination with the inching operation is not available The inching operation does not perform acceleration deceleration processing 7 Invalid while the continuous path control is in operation 3 LIST OF FUNCTIONS 2 3 5 Combination of Main and Sub Functions 9 30 Machine OPR control x O x x x control Fast OPR control x O x x Major Position 1 axis linear control O positioning control 2 3 4 axis linear O O O control interpolation control 1 axis fixed feed O O O O O control 2 3 4 axis fixed O O O O O feed control Interpolation 2 axis circular O O O O O interpolation control 3 axis helical O O O O O interpolation control Speed control 1 to 4 axis O x O Speed position switching control O Position speed switching control Other Current value Q controls change NOP instruction x x x x x x JUMP instruction x x x x x LOOP to LEND x x x x x x Manual JOG operation Inching operation x x x 28 control Manual pulse generator operation X x
67. rol path control line arc and helix can be set speed control speed position switching control position speed switching control Control unit mm inch degree pulse Positioning data 600 data axis Module data backup function Positioning data and block start data can be saved on the flash ROM battery less backup Positioning Positioning system PTP control Incremental system absolute system Speed position switching control Incremental system absolute system Position speed switching control Incremental system Path control Incremental system absolute system Positioning range In absolute system 214748364 8 to 214748364 7um 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 pulse In incremental system 214748364 8 to 214748364 7um 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 pulse In speed position switching control INC mode position speed switching control 0 to 214748364 7um 0 to 21474 83647 inches 0 to 21474 83647 degree 0 to 2147483647 pulses In speed position switching control ABS mode 0 to 359 99999 degree Speed command 0 01 to 20000000 00mm min 0 001 to 2000000 000inch min 0 001 to 3000000 000 degree min 1 to 5000000 pulse s Acceleration deceleration processing Trapezoidal acceleration deceleration S curve acceleration deceleration Acceleration deceler
68. rol Electronic gear function Near pass function O O O O O Output timing selection of near O O pass control Function to limit Speed limit function O O O control Torque limit function O O O O O Software stroke limit function O O O Q O Hardware stroke limit function O O O O O Functions that Speed change function Q O O O change control Override function O O O details Acceleration deceleration time O O O O change function Torque change function O O O O Target position change function O O O O Function related Start time adjustment function O O O O O to positioning Restart function O O O O O e Pre reading start function O O O O O Absolute position restoration function x x x x x Function related Step function O O O O O to positioning Stop command processing for O O O O O stop deceleration stop function Continuous operation interrupt O O O O O function Stop processing function O O O O O Other functions Skip function AS O O O M code output function O O O O Teaching function x x x x x Command in position function O O O O O Acceleration deceleration O O O O O processing function Deceleration start flag function Ae A O O During uncompleted OPR O O O O operation setting function Interrupt function O O O O O 4 Speed cannot be changed to zero 5 For the control using External command signal only one of the functions can be used 6 Deceleration start flag
69. run JOG binputFBErrResetreq X4E Module FB error reset request command Internal relay uPositioningStartNo Word Unsigned Bit Positioning start No data device String 16 bit bPositioningStartReq Bit Positioning start command udJogOperationSpeed Double Word JOG operation speed Unsigned Bit String 32 bit ulnchingMovementAmount Word Unsigned Bit Inching movement amount String 16 bit bDuringJogInchingOperation Bit During JOG inching operation 1 The settings of Assign Device Label are not required because the unused internal relay and data device are automatically assigned 6 OPERATION EXAMPLES 55 56 ple For details on module function blocks refer to the following MELSEC iQ R Positioning Module Function Block Reference READY signal YO ON program RD75 1 bModuleAc cessFlag x1 The program examples use the module function blocks FBs and module labels displayed in Module POU RD75 1 bPLOReady YO 2 lPositioning start No setting program bInputOPRStartReq K9001 x23 gt blnputSetStartPositioningNoReq 57 X25 END uPositioningStartNo 78 lPositioning start program t uPositioningStartNo hinputStartPo bDuringJogInchingOp sitioningReq eration bPositioningStartR 1 x2B eq Lr gt
70. s 2 0 RII Ie 18 CHAPTER LIST OF FUNCTIONS 22 3 1 Control FUNCION cc pera ca orate tate vn A e nea re eae eae eer RENE NUR Ri Se a alii 22 3 2 Positioning Function sse neseni anr E nene a eee eee 23 3 3 Main Functions iii RR 23 3 4 Sub Functions and Common lt 25 3 5 Combination of Main and Sub Functi0NS oooococccnnncnn 27 3 6 Combination Among Sub Functions hh hh hh 32 CHAPTER4 PROCEDURES BEFORE OPERATIONS 38 CHAPTER 5 WIRING 40 5 1 Wiring Precautions assssasmasaa A REEERE UR ORA s RR 40 Connectors for external devices 5 e pa vetere Pac red COR RUE eee eee RON eae i RR 41 5 2 Connector for External Devices pede sas ce ee eee eee ee eee ee eee 44 Signal layouts of connectors for external 44 List of O signial details u u es is bdo de Ce eee kusa 46 Internal circuit of input output interface 48 CHAPTER 6 OPERATION EXAMPLES 51 APPENDICES 58 Appendix 1 External Connection 0 0c cece eee eee n n nnn 58 The connection example with a servo amplifier manufactured by Mitsubishi 58 Appendix 2 Device List rarus ee ERR EUER ace KS I
71. t function x x Absolute position restoration function x x Function related Step function x x to positioning Stop command processing for x x Stop deceleration stop function Continuous operation interrupt x x O O O function Stop processing function O O O O O Other functions Skip function x x O O O M code output function x x O O O Teaching function x x x x x Command in position function x x O O Acceleration deceleration O O O O processing function Deceleration start flag function x x O During uncompleted OPR O O O O operation setting function Interrupt function 2 1 Speed cannot be changed to zero 2 No limitation for combination use with other functions Satisfaction judgment of interruption conditions is performed as needed 3 LIST OF FUNCTIONS 3 6 Combination Among Sub Functions Function specific OPR retry function x to machine OPR op shift function x O O x O Function to Backlash compensation O O O O O compensate function control Electronic gear function O O O Near pass function O O O Output timing selection of near O O pass control Function to limit Speed limit function O O O control Torque limit function O O O O Software stroke limit function O O O O Hardware stroke limit function O O O Functions that Speed cha
72. taken between the external device and CPU module in case of a communication failure Do not write any data to the system area and write protect area of the buffer memory in the module Also do not use any use prohibited signals as an output signal from the CPU module to each module Doing so may cause malfunction of the programmable controller system For the system area write protect area and the use prohibited signals refer to the user s manual for the module used O If communication cable is disconnected the network may be unstable resulting in a communication failure of multiple stations Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail Failure to do so may result in an accident due to an incorrect output or malfunction To maintain the safety of the programmable controller system against unauthorized access from external devices via the network take appropriate measures To maintain the safety against unauthorized access via the Internet take measures such as installing a firewall O Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller Failure to do so may result in an accident due to an incorrect output or malfunction 1 Machine OPR Original Point Return is controlled by two kinds of data
73. tches I O signal logics according to the equipment connected to the RD75 For the system in which signals function handled as normally closed contacts such as Drive unit READY signal and limit signals are not used the parameter logic setting can be controlled without wiring if the setting is changed to Positive logic External I O signal monitor function Monitors External I O signal using the module s detailed information which can be displayed on the system monitor of an engineering tool History monitor function Monitors the error history warning history and start history of all axes Online module change Allows module replacement without stopping the system For the procedure of the online module change refer to the following LT MELSEC iQ R Online Module Change Manual 26 3 LIST OF FUNCTIONS 3 4 Sub Functions and Common Functions 3 5 With positioning control using the RD75 the main functions and sub functions can be combined and used as necessary O Always combined O Combination possible A Combination limited X Combination not possible Combination of Main and Sub Functions OPR Machine OPR control x O O control Fast OPR control O O Major Position 1 axis linear control O x x O O positioning gontrol 2 3 4 axis linear O O control interpolation control 1 axis fixed feed control A x x O Continuous path control cannot be
74. ter of 1 3mm or less when the 40 pins are used Select appropriate cables according to the current value used The A6CON3 IDC type connector straight type cannot be used 40 connector crimping tool Crimping tool FCN 363T T005 H FUJITSU COMPONENT LIMITED For how to wire the connector and how to use the crimping tool contact the manufacturer 5 WIRING 5 1 Wiring Precautions 41 Wiring example when shielded cables used The following figure shows an example of the noise reduction measure when the connector A6CON1 is used Connector A6CON1 To external devices for two drive units Shielded cable To drive unit Use the shortest possible length to ground the 2mn or more FG wire The shield must be grounded on the RD75 side The length between the connector and the shielded cables should be the shortest possible of shielded cable processing The following figure shows an example of the noise reduction measure when the connector A6CON1 is used Remove the coverings from all shielded cables and bind the appeared shields with a conductive tape Coat the wire with insulaing tape ESA POON Solder the shield of any one of the shielded cables to the FG wire 5 WIRING 5 1 Wiring Precautions MAssembling of the connector AGCON1 Wrap the coated parts with a heat shrinkable tube Wiring methods and installation and removal proc
75. term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user
76. th an analog voltage must be needed 3 An I O module with arbitrary number of points and a drive unit capable of configuring an absolute position detection system which is Mitsubishi General Purpose AC Servo and has an absolute position detection function absolute position data transfer protocol equivalent to that of MR J3 L1A are needed 3 LIST OF FUNCTIONS 3 4 Sub Functions and Common Functions 25 Function related to Stop command processing for Selects a deceleration curve when a stop cause occurs during the deceleration stop positioning stop deceleration stop function processing to speed 0 Continuous operation interrupt Interrupts the continuous operation When this request is accepted the operation will stop at function the completion of the positioning data being executed Step function Temporarily stops the operation to check the positioning operation during debugging and other operation The operation can be stopped for each Automatic deceleration or Positioning data Other functions Skip function Pauses decelerates to stop the positioning being executed when Skip signal is input and performs the next positioning M code output function Issues a command for a subsidiary work such as stopping clamps or drills and changing tools corresponding to each M code number 0 to 65535 that can be set to each positioning data Teaching function Stores the address positioned with the manual control into the positioning
77. the external power supply or the programmable controller Failure to do so may result in an accident due to an incorrect output or malfunction 1 Emergency stop circuits protection circuits and protective interlock circuits for conflicting operations such as forward reverse rotations or upper lower limit positioning must be configured external to the programmable controller 2 When the programmable controller detects an abnormal condition it stops the operation and all outputs are Turned off if the overcurrent or overvoltage protection of the power supply module is activated Held or turned off according to the parameter setting if the self diagnostic function of the CPU module detects an error such as a watchdog timer error 3 All outputs may be turned on if an error occurs in a part such as I O control part where the CPU module cannot detect any error To ensure safety operation in such a case provide a safety mechanism or a fail safe circuit external to the programmable controller For a fail safe circuit example refer to General Safety Requirements in the MELSEC iQ R Module Configuration Manual 4 Outputs may remain on or off due to a failure of a component such as a relay and transistor in an output circuit Configure an external circuit for monitoring output signals that could cause a serious accident In an output circuit when a load current exceeding the rated current or an overcurrent caused by a load short ci
78. the machine system can be structured with this function Near pass function Suppresses the machine vibration when the speed change is performed during the continuous path control in the interpolation control Output timing selection of near pass control This function allows the user to select the timing to output the difference Ad between the actual and the set positioning end addresses in the continuous path control in which the difference Ad is output during the execution of the next positioning data Function to limit control Speed limit function If the command speed exceeds Pr 8 Speed limit value during the control this function limits the command speed to within the setting range of Pr 8 Speed limit value Torque limit function 2 If the torque generated in the servo motor exceeds Pr 17 Torque limit setting value during the control this function limits the generated torque to within the setting range of Pr 17 Torque limit setting value Software stroke limit function If a command outside of the upper lower limit stroke limit setting range set in the parameters is issued this function will not execute the positioning for that command Hardware stroke limit function Performs the deceleration stop with the limit switch connected to the RD75 s connector for external devices Functions that change control details Speed change function Changes the speed during positioning Set
79. the next following positioning data will be executed Continuous path control When Continuous path control is set for the operation pattern of the started positioning data the specified positioning data will be executed and the next following positioning data will be executed without deceleration stop 24 3 LIST OF FUNCTIONS 3 3 Main Functions 3 4 Sub function Sub Functions and Common Functions The following table shows the overview of the functions that assist positioning controls using the RD75 Sub function Description Sub functions specific to OPR retry function Retries the machine OPR with the upper lower limit switches during the machine OPR This machine OPR allows the machine OPR to be performed even if the axis is not returned to a position before the near point dog with operations such as the JOG operation OP shift function After the machine OPR this function compensates the position by the specified distance from the machine OP position and sets that position as the OP address Function to compensate control Backlash compensation function Compensates the backlash amount of the machine system Feed pulses equivalent to the set backlash amount are output each time the movement direction changes Electronic gear function By setting the movement amount per pulse this function can freely change the machine movement amount per commanded pulse A flexible positioning system that matches
80. tion or override function is used to make deceleration 13 No limitation for combination use with other functions Satisfaction judgment of interruption conditions is performed as needed 3 LIST OF FUNCTIONS 3 6 Combination Among Sub Functions 37 38 4 PROCEDURES BEFORE OPERATIONS This chapter describes the procedures before operation 1 Mounting the module Mount the RD75 on the main base unit or extension base unit For details refer to the following MELSEC iQ R Module Configuration Manual 2 Wiring Connect the RD75 to external devices 3 Adding the module Add the RD75 to the module map of the project using an engineering tool 4 Module setting Set values for the module setting using an engineering tool For details refer to the following LL MELSEC iQ R Positioning Module User s Manual Application 5 Auto refresh setting Set values for the refresh settings using an engineering tool For details refer to the following LL MELSEC iQ R Positioning Module User s Manual Application 6 Checking connections Check that the RD75 is connected to external devices correctly 7 Programming Create programs For details refer to the following LL MELSEC iQ R Positioning Module User s Manual Application 8 Test operation Check that the positioning is correctly carried out as designed 4 PROCEDURES BEFORE OPERATIONS 4 PROCEDURES BEFORE OPERATIONS 39 WIRING This chapter
81. tomatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT 2 The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear or Hazardous Materials or Chemi
82. uivalent to AM26LS32 ON OFF level ON 1 8V or higher OFF 0 6V or lower Manual pulse generator connection Manual pulse generator A phase PULSER A Manual pulse generator B phase PULSER B 5VDC 5mA 4 5 to 6 1VDC 2 5VDC or higher 2mA or higher 1VDC or lower 0 1mA or lower Approx 1 1kQ 1ms or less Pulse width duty ratio 5096 4ms or more 2ms or more 2ms or more Phase difference When the A phase leads the B phase the positioning address current value increases A phase mel Le E 1ms or more Near point dog signal DOG 24VDC 5mA 19 2 to 26 4VDC 17 5VDC or 7VDC or lower Approx 4 3kQ 1ms or less higher 3 5mA or 1 7mA or lower higher External command signal CHG 24VDC 5mA 19 2 to 26 4VDC 19VDC or higher 7VDC or lower Approx 7 7kQ 20us 2 7mA or higher 0 8mA or lower Deviation counter clear signal 5 to 24VDC 4 75 to 30VDC 0 1A 1 point O 4A 1VDC TYP 0 1mA or lower 2ms or less CLEAR 10ms or less 2 5VDC MAX resistive load RD75PO 5 to 24VDC 4 75 to 30VDC 50mA 1 point 0 5VDC TYP 0 1mA or lower Pulse output PULSE F Pulse output PULSE R 200mA 10ms or less RD75DO Pulse output F PULSE F Pulse output R PULSE R Differential driver equivalent to AM26C31 2 SPECIFICATIONS 2 2 Specifications of Input output Interfaces with External Devices ET he relation of p
83. ulse output with Pr 5 Pulse output mode and Pr 23 Output signal logic selection Pulse output mode PULSE SIGN CW CCW A phase B phase can be selected in Pr 5 Pulse output mode according to the drive unit specifications The logic of output signals positive logic negative logic is selected in Pr 23 Output signal logic selection as well The relation of pulse output with Pr 5 Pulse output mode and Pr 23 Output signal logic selection is shown below RD75PO The voltage of terminals having the PULSE COM terminal as a reference is shown 5 Page 48 Internal circuit of input output interface High gt OFF Low gt ON Pr 5 Pulse Terminal Pr 23 Output signal logic selection output mode name zm 7 S Positive logic Negative logic Forward run Reverse run Forward run Reverse run PULSE SIGN PULSE F High High Low Low PULSE R High High Low Low CW CCW PULSEF TO T l I pd Pl Pl Lon LJ L L PULSER TT 1 I Low Pl pl ia L LJ LI A phase PULSE F PIR mm ig Ig B phase Low Low PULSE R High High Low Low 2 SPECIFICATIONS 1 9 2 2 Specifications of Input output Interfaces with External Devices RD75DLI The voltage of terminals having the d
84. ystem configuration The following figure shows the system configuration used for the program examples in this section 1 2 3 wu 5 X40 to X45 X47 to X49 Y60 to Y62 6 OPERATION EXAMPLES X20 to X3F 7 1 61 2 RO4CPU 3 RD75D4 to X1F YO to Y1F 4 RX40C7 X20 to X3F 5 RX40C7 X40 to X5F 6 RY42NT1 Y60 to 7 External device 8 Servo amplifier 9 Servomotor Set the module parameters and module extension parameters with the engineering tool Take the following steps 1 Add the RD75 to the project O Navigation gt Parameter gt Module Information gt Right click Add New Module Module Selection Module Type Pulse I O Positioning RD75P4 Station Type Detailed Setting Mounting Position Mounting Base Main Base Mounting Slot No 0 Start I O No Specification Not Set Start VO No 0000 H Number of Occupied Points per 1 Sh 32Point 2 Click Yes button in the following window to add the module labels of the RD75 Do you want to add the module label of the following installed modules Module Name RD75P4 Start 1 0 No 0000 Do Not Show this Dialog Again This setting can be changed in the Options dialog 3 Setthe module parameters and module extension parameters 4 Write the settings to the CPU module with the engineering tool XZ Online gt Write to PLC

MELSEC iQ-R Positioning Module User`s Manual (Startup)

Contents

Download Pdf Manuals

Related Search

Related Contents