Mitsubishi A1SD75P1-S3 User manual

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A - 1
SAFETY INSTRUCTIONS
(Always read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
The instructions given in this manual are concerned with this product. For the safety instructions of the
programmable controller system, please read the CPU module User's Manual.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
!DANGER
CAUTION
!
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight personal injury or physical damage.
Note that the !CAUTION level may lead to a serious consequence according to the circumstances.
Always follow the instructions of both levels because they are important to personal safety.
Please save this manual to make it accessible when required and always forward it to the end user.
[Design Instructions]
!DANGER
Provide a safety circuit outside the programmable controller so that the entire system will
operate safely even when an external power supply error or PLC fault occurs.
Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.
(1) Configure an emergency stop circuit and interlock circuit such as a positioning upper
limit/lower limit to prevent mechanical damage outside the PLC.
(2) The machine zero point return operation is controlled by the zero point return direction and
zero point return speed data. Deceleration starts when the near-point dog turns ON. Thus,
if the zero point return direction is incorrectly set, deceleration will not start and the
machine will continue to travel. Configure an interlock circuit to prevent mechanical
damage outside the PLC.
(3) When the module detects an error, normally deceleration stop or sudden stop will take
place according to the parameter stop group settings. Set the parameters to the positioning
system specifications.
Make sure that the zero point return parameter and positioning data are within the
parameter setting values.
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A - 2
[Design Instructions]
!CAUTION
Do not bundle or adjacently lay the control wire or communication cable with the main circuit or
power wire.
Separate these by 100mm or more.
Failure to observe this could lead to malfunctioning caused by noise.
[Mounting Instructions]
!CAUTION
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Always securely insert the module latches at the bottom of the module into the fixing holes on
the base unit. (Always screw the AnS Series module onto the base unit with the specified
torque.)
Improper mounting of the module could lead to malfunctioning, faults or dropping.
Securely connect the external device connection connector and peripheral device connection
connector into the module connector until a click is heard.
Improper connection could lead to a connection fault, and to incorrect inputs and outputs.
When not connecting the drive unit, always install a cover on the connector section.
Failure to observe this could lead to malfunctioning.
[Wiring Instructions]
!DANGER
Always confirm the terminal layout before connecting the wires to the module.
Make sure that foreign matter such as cutting chips and wire scraps does not enter the module.
Failure to observe this could lead to fires, faults or malfunctioning.
[Startup/Maintenance Instructions]
!DANGER
Switch off all phases of the externally supplied power used in the system before cleaning or
tightening the screws.
Failure to turn all phases OFF could lead to electric shocks.
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A - 3
[Startup/Maintenance Instructions]
!CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Switch off all phases of the externally supplied power used in the system before installing or
removing the module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately if a hazardous state occurs.
Always make sure to touch the grounded metal to discharge the electricity charged in the body,
etc., before touching the module.
Failure to do so may cause a failure or malfunctions of the module.
[Precautions for use]
!CAUTION
Note that when the reference axis speed is designated for interpolation operation, the speed of
the partner axis (2nd axis) may be larger than the set speed (larger than the speed limit value).
[Disposal Instructions]
!CAUTION
When disposing of the product, handle it as industrial waste.
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A – 4
REVISIONS
* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Feb., 1997 IB (NA) -66716-A Initial print
Jul., 1997 IB (NA) -66716-B Complete review
Nov., 1997 IB (NA) -66716-C Additional functions
Section 4.2.7 (Initializing the parameters), Section 4.3.3 (5)
(Near pass mode for continuous path control in interpolation
control)
Partial revisions and additions
Section 3.2.2 (Table), Section 4.2.1 (2), Section 4.2.9, Fig.
4.10, Section 4.4.2, Section 4.7.2, Section 4.13, Chapter 5,
Section 5.2.2 (3), Table 6.1, Section 18.1, Section 18.2,
Appendix 5.4
Chapter addition
Chapter 1
Oct., 1999 IB (NA) -66716-D Complete review
Sep., 2002 IB (NA) -66716-E Complete review
May, 2003 IB (NA) -66716-F Complete review
Feb., 2004 IB (NA) -66716-G Partial revisions and additions
CONTENTS, Section 1.1.1, Section 1.2.3, Section 2.2,
Section 3.4.2, Section 3.5.1, Section 3.5.3, Section 5.2.5,
Section 5.3 to Section 5.5, Section 5.6.2, Section 6.5.3,
Section 6.5.6, Section 7.1.2, Section 8.2.5, Section 8.2.6,
Section 9.1.2, Section 9.1.5, Section 9.2.3 to Section 9.2.5,
Section 9.2.8, Section 10.1.2, Section 10.3.3 to Section 10.3.5,
Section 10.3.8, Section 11.1.1, Section 11.2.1, Section 11.3.1,
Section 11.3.3, Section 12.2.1, Section 12.2.2, Section 12.4.4,
Section 12.5.1, Section 14.2, Appendix 10 to Appendix 12, INDEX
Dec.,2004 IB (NA) -66716-H Partial revisions and additions
SAFETY INSTRUCTIONS, Section 4.2.1, Section 4.3.1 to
Section 4.3.3, Section 4.4.2, Section 4.5.1, Section 5.1.2,
Section 5.2.1, Section 5.3, Section 5.6.2, Section 6.1,
Section 8.1.1, Section 8.2.4, Section 8.2.5, Section 8.2.8,
Section 8.2.9, Section 8.3, Section 8.4, Section 9.1.2,
Section 9.1.5, Section 9.2.6, Section 9.2.11, Section 10.3.9,
Section 11.3.1, Section 12.2.1, Section 12.4.3, Section 12.4.4,
Section 12.6.1, Section 12.6.6, Section 13.4, Section 14.1,
Section 14.2, Appendix 12
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A – 5
* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Jul., 2006 IB (NA) -66716-I Partial revisions and additions
CONTENTS, Section 5.2.1, Section 12.6.1, Appendix 6.1, INDEX
Sep., 2007 IB(NA)-66716-J Partial revisions
Section 3.4.2, Section 5.1.2, Section 5.6.1, Section 5.7.1,
Section 6.5.3, Section 6.5.5, Section 9.1.2, Section 9.2.9,
Section 9.2.10, Section 10.3.2, Section 10.5.1, Section 12.5.1,
Section 12.5.2, Section 12.6.1, Section 12.6.2, Section 12.6.8
Japanese Manual Version SH-3608-M
This manual confers no industrial property rights or any 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.
©1997 MITSUBISHI ELECTRIC CORPORATION
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A - 6
INTRODUCTION
Thank you for purchasing the Mitsubishi general-purpose programmable controller MELSEC-A Series.
Always read through this manual, and fully comprehend the functions and performance of the A Series PLC
before starting use to ensure correct usage of this product.
CONTENTS
SAFETY INSTRUCTIONS...............................................................................................................................A-1
REVISIONS ......................................................................................................................................................A-4
INTRODUCTION..............................................................................................................................................A-6
CONTENTS......................................................................................................................................................A-6
About Manuals ...............................................................................................................................................A-14
Conformation to the EMC Directive and Low Voltage Instruction ................................................................A-14
Using This Manual (1) ....................................................................................................................................A-15
Using This Manual (2) ....................................................................................................................................A-16
Using This Manual (3) ....................................................................................................................................A-17
Generic Terms and Abbreviations .................................................................................................................A-18
Enclosed Parts ...............................................................................................................................................A-19
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
1. PRODUCT OUTLINE 1-1 to 1-18
1.1 Positioning control...................................................................................................................................... 1-2
1.1.1 Features of AD75 ................................................................................................................................ 1-2
1.1.2 Purpose and applications of positioning control................................................................................. 1-4
1.1.3 Mechanism of positioning control ....................................................................................................... 1-6
1.1.4 Outline design of positioning system .................................................................................................. 1-8
1.1.5 Communicating signals between AD75 and each module.............................................................. 1-10
1.2 Flow of system operation......................................................................................................................... 1-12
1.2.1 Flow of all processes......................................................................................................................... 1-12
1.2.2 Outline of starting .............................................................................................................................. 1-14
1.2.3 Outline of stopping ............................................................................................................................ 1-16
1.2.4 Outline for restarting.......................................................................................................................... 1-17
2. SYSTEM CONFIGURATION 2-1 to 2-8
2.1 General image of system........................................................................................................................... 2-2
2.2 List of configuration devices ...................................................................................................................... 2-4
2.3 Applicable system ...................................................................................................................................... 2-5
2.4 Precautions for configuring system ........................................................................................................... 2-6
3. SPECIFICATIONS AND FUNCTIONS 3-1 to 3-22
3.1 General specifications................................................................................................................................ 3-2
3.2 Performance specifications........................................................................................................................ 3-3
3.3 List of functions .......................................................................................................................................... 3-4
3.3.1 AD75 control functions ........................................................................................................................ 3-4
3.3.2 AD75 main functions ........................................................................................................................... 3-6
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A - 7
3.3.3 AD75 auxiliary functions and common functions ............................................................................... 3-8
3.3.4 Combination of AD75 main functions and auxiliary functions ......................................................... 3-10
3.4 Specifications of input/output signals with PLC CPU ............................................................................ 3-12
3.4.1 List of input/output signals with PLC CPU........................................................................................ 3-12
3.4.2 Details of input signals (AD75 PLC CPU) ................................................................................... 3-13
3.4.3 Details of output signals (PLC CPU AD75) ................................................................................. 3-15
3.5 Specifications of input/output interfaces with external devices .............................................................. 3-16
3.5.1 Electrical specifications of input/output signals ................................................................................ 3-16
3.5.2 Signal layout for external device connection connector................................................................... 3-18
3.5.3 List of input/output signal details....................................................................................................... 3-19
3.5.4 Input/output interface internal circuit................................................................................................. 3-20
4. INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 4-1 to 4-24
4.1 Outline of installation, wiring and maintenance......................................................................................... 4-2
4.1.1 Installation, wiring and maintenance procedures............................................................................... 4-2
4.1.2 Names of each part ............................................................................................................................. 4-3
4.1.3 Handling precautions .......................................................................................................................... 4-5
4.2 Installation .................................................................................................................................................. 4-7
4.2.1 Precautions for installation.................................................................................................................. 4-7
4.3 Wiring.......................................................................................................................................................... 4-8
4.3.1 Precautions for wiring.......................................................................................................................... 4-8
4.3.2 Wiring the external device connection connector pins..................................................................... 4-13
4.3.3 Connecting the connector ................................................................................................................. 4-17
4.4 Confirming the installation and wiring...................................................................................................... 4-18
4.4.1 Items to confirm when installation and wiring are completed .......................................................... 4-18
4.4.2 Single module test............................................................................................................................. 4-19
4.5 Maintenance............................................................................................................................................. 4-23
4.5.1 Precautions for maintenance ............................................................................................................ 4-23
4.5.2 Disposal instructions ......................................................................................................................... 4-23
5. DATA USED FOR POSITIONING CONTROL (List of buffer memory addresses) 5-1 to 5-124
5.1 Types of data.............................................................................................................................................. 5-2
5.1.1 Parameters and data required for control........................................................................................... 5-2
5.1.2 Setting items for positioning parameters ............................................................................................ 5-4
5.1.3 Setting items for zero point return parameters................................................................................... 5-6
5.1.4 Setting items for positioning data........................................................................................................ 5-7
5.1.5 Setting items for start block data ........................................................................................................ 5-9
5.1.6 Setting items for condition data ........................................................................................................ 5-10
5.1.7 Types and roles of monitor data ....................................................................................................... 5-11
5.1.8 Types and roles of control data ........................................................................................................ 5-14
5.2 List of parameters .................................................................................................................................... 5-18
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A - 8
5.2.1 Basic parameters 1 ........................................................................................................................... 5-18
5.2.2 Basic parameters 2 ........................................................................................................................... 5-24
5.2.3 Detailed parameters 1....................................................................................................................... 5-28
5.2.4 Detailed parameters 2....................................................................................................................... 5-36
5.2.5 Zero point return basic parameters .................................................................................................. 5-45
5.2.6 Zero point return detailed parameters .............................................................................................. 5-52
5.3 List of positioning data ............................................................................................................................. 5-56
5.4 List of start block data .............................................................................................................................. 5-71
5.5 List of condition data ................................................................................................................................ 5-77
5.6 List of monitor data................................................................................................................................... 5-82
5.6.1 System monitor data ......................................................................................................................... 5-82
5.6.2 Axis monitor data............................................................................................................................... 5-92
5.7 List of control data .................................................................................................................................. 5-106
5.7.1 System control data ........................................................................................................................ 5-106
5.7.2 Axis control data.............................................................................................................................. 5-112
6. SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6-1 to 6-38
6.1 Precautions for creating program .............................................................................................................. 6-2
6.2 List of devices used.................................................................................................................................... 6-4
6.3 Creating a program .................................................................................................................................... 6-8
6.3.1 General configuration of program ....................................................................................................... 6-8
6.3.2 Positioning control operation program................................................................................................ 6-9
6.4 Positioning program examples ................................................................................................................ 6-12
6.5 Program details ........................................................................................................................................ 6-21
6.5.1 Initialization program ......................................................................................................................... 6-21
6.5.2 Start details setting program ............................................................................................................. 6-22
6.5.3 Start program..................................................................................................................................... 6-23
6.5.4 Continuous operation interrupt program........................................................................................... 6-31
6.5.5 Restart program ................................................................................................................................ 6-33
6.5.6 Stop program..................................................................................................................................... 6-36
7. MEMORY CONFIGURATION AND DATA PROCESS 7-1 to 7-14
7.1 Configuration and roles of AD75 memory................................................................................................. 7-2
7.1.1 Configuration and roles of AD75 memory .......................................................................................... 7-2
7.1.2 Buffer memory area configuration ...................................................................................................... 7-5
7.2 Data transmission process ........................................................................................................................ 7-6
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A - 9
SECTION 2 CONTROL DETAILS AND SETTING
8. ZERO POINT RETURN CONTROL 8-1 to 8-26
8.1 Outline of zero point return control ............................................................................................................ 8-2
8.1.1 Two types of zero point return control ................................................................................................ 8-2
8.2 Machine zero point return .......................................................................................................................... 8-4
8.2.1 Outline of the machine zero point return operation............................................................................ 8-4
8.2.2 Machine zero point return method...................................................................................................... 8-5
8.2.3 Zero point return method (1): Near-point dog method .......................................................................8-6
8.2.4 Zero point return method (2): Stopper stop method 1) .....................................................................8-8
8.2.5 Zero point return method (3): Stopper stop method 2) ................................................................... 8-11
8.2.6 Zero point return method (4): Stopper stop method 3) ................................................................... 8-14
8.2.7 Zero point return method (5): Count method 1) .............................................................................. 8-16
8.2.8 Zero point return method (6): Count method 2) .............................................................................. 8-18
8.3 High-speed zero point return ................................................................................................................... 8-20
8.3.1 Outline of the high-speed zero point return operation ..................................................................... 8-20
8.4 Positioning to the zero point .................................................................................................................... 8-22
9. MAIN POSITIONING CONTROL 9-1 to 9-62
9.1 Outline of main positioning controls........................................................................................................... 9-2
9.1.1 Data required for main positioning control.......................................................................................... 9-3
9.1.2 Operation patterns of main positioning controls................................................................................. 9-4
9.1.3 Designating the positioning address................................................................................................. 9-14
9.1.4 Confirming the current value............................................................................................................. 9-15
9.1.5 Control unit "degree" handling .......................................................................................................... 9-17
9.1.6 Interpolation control........................................................................................................................... 9-19
9.2 Setting the positioning data .................................................................................................................... 9-22
9.2.1 Relation between each control and positioning data ....................................................................... 9-22
9.2.2 1-axis linear control ........................................................................................................................... 9-23
9.2.3 2-axis linear interpolation control ...................................................................................................... 9-25
9.2.4 1-axis fixed-dimension feed control .................................................................................................. 9-29
9.2.5 2-axis fixed-dimension feed control (interpolation) ......................................................................... 9-31
9.2.6 2-axis circular interpolation control with auxiliary point designation ................................................ 9-33
9.2.7 2-axis circular interpolation control with center point designation ................................................... 9-39
9.2.8 Speed control .................................................................................................................................... 9-46
9.2.9 Speed/position changeover control .................................................................................................. 9-48
9.2.10 Current value change...................................................................................................................... 9-55
9.2.11 JUMP command.............................................................................................................................. 9-60
10. ADVANCED POSITIONING CONTROL 10-1 to 10-24
10.1 Outline of advanced positioning control ................................................................................................ 10-2
10.1.1 Data required for advanced positioning control ............................................................................. 10-3
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A - 10
10.1.2 "Start block data" and "condition data" configuration..................................................................... 10-4
10.2 Advanced positioning control execution procedure ............................................................................. 10-6
10.3 Setting the start block data .................................................................................................................... 10-7
10.3.1 Relation between various controls and start block data ................................................................ 10-7
10.3.2 Block start (normal start) ................................................................................................................ 10-8
10.3.3 Condition start ............................................................................................................................... 10-10
10.3.4 Wait start........................................................................................................................................ 10-11
10.3.5 Simultaneous start ....................................................................................................................... 10-12
10.3.6 Stop................................................................................................................................................ 10-13
10.3.7 Repeated start (FOR loop) .......................................................................................................... 10-14
10.3.8 Repeated start (FOR condition) ................................................................................................... 10-15
10.3.9 Restrictions when using the NEXT start....................................................................................... 10-16
10.4 Setting the condition data .................................................................................................................... 10-17
10.4.1 Relation between various controls and the condition data .......................................................... 10-17
10.4.2 Condition data setting examples .................................................................................................. 10-19
10.5 Start program for advanced positioning control .................................................................................. 10-20
10.5.1 Starting advanced positioning control .......................................................................................... 10-20
10.5.2 Example of a start program for advanced positioning control ..................................................... 10-21
11. MANUAL CONTROL 11-1 to 11-26
11.1 Outline of manual control ...................................................................................................................... 11-2
11.1.1 Two manual control methods.......................................................................................................... 11-2
11.2 JOG operation........................................................................................................................................ 11-4
11.2.1 Outline of JOG operation ................................................................................................................ 11-4
11.2.2 JOG operation execution procedure .............................................................................................. 11-7
11.2.3 Setting the required parameters for JOG operation....................................................................... 11-8
11.2.4 Creating start programs for JOG operation.................................................................................. 11-10
11.2.5 JOG operation example ................................................................................................................ 11-13
11.3 Manual pulse generator operation....................................................................................................... 11-17
11.3.1 Outline of manual pulse generator operation............................................................................... 11-17
11.3.2 Manual pulse generator operation execution procedure ............................................................. 11-21
11.3.3 Setting the required parameters for manual pulse generator operation ..................................... 11-22
11.3.4 Creating a program to enable/disable the manual pulse generator operation............................ 11-23
12. CONTROL AUXILIARY FUNCTIONS 12-1 to 12-86
12.1 Outline of auxiliary functions.................................................................................................................. 12-2
12.1.1 Outline of auxiliary functions ........................................................................................................... 12-2
12.2 Auxiliary functions specifically for machine zero point returns ............................................................. 12-4
12.2.1 Zero point return retry function ....................................................................................................... 12-4
12.2.2 Zero point shift function .................................................................................................................. 12-8
12.3 Functions for compensating the control .............................................................................................. 12-11
12.3.1 Backlash compensation function .................................................................................................. 12-11
12.3.2 Electronic gear function ................................................................................................................ 12-13
12.3.3 Near pass mode function .............................................................................................................. 12-18
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A - 11
12.4 Functions to limit the control ................................................................................................................ 12-22
12.4.1 Speed limit function....................................................................................................................... 12-22
12.4.2 Torque limit function...................................................................................................................... 12-24
12.4.3 Software stroke limit function........................................................................................................ 12-27
12.4.4 Hardware stroke limit function ...................................................................................................... 12-33
12.5 Functions to change the control details............................................................................................... 12-35
12.5.1 Speed change function ................................................................................................................. 12-35
12.5.2 Override function ........................................................................................................................... 12-42
12.5.3 Acceleration/deceleration time change function .......................................................................... 12-45
12.5.4 Torque change function ................................................................................................................ 12-48
12.6 Other functions..................................................................................................................................... 12-50
12.6.1 Step function.................................................................................................................................. 12-50
12.6.2 Skip function .................................................................................................................................. 12-55
12.6.3 M code output function.................................................................................................................. 12-58
12.6.4 Teaching function.......................................................................................................................... 12-62
12.6.5 Command in-position function ...................................................................................................... 12-72
12.6.6 Stepping motor mode function...................................................................................................... 12-75
12.6.7 Acceleration/deceleration processing function............................................................................. 12-78
12.6.8 Indirectly specification function ..................................................................................................... 12-82
13. COMMON FUNCTIONS 13-1 to 13-12
13.1 Outline of common functions ................................................................................................................. 13-2
13.2 Parameter initialization function............................................................................................................. 13-3
13.3 Execution data backup function ............................................................................................................ 13-5
13.4 LED display function .............................................................................................................................. 13-7
13.5 Clock data function............................................................................................................................... 13-11
14. TROUBLESHOOTING 14-1 to 14-36
14.1 Error and warning details ....................................................................................................................... 14-2
14.2 List of errors ........................................................................................................................................... 14-6
14.3 List of warnings .................................................................................................................................... 14-30
14.4 Start during error history ...................................................................................................................... 14-36
APPENDICES Appendix-1 to Appendix-58
Appendix 1 External dimension drawing ............................................................................................Appendix-2
Appendix 2 Format sheets .................................................................................................................Appendix-4
Appendix 2.1 Positioning module operation chart..........................................................................Appendix-4
Appendix 2.2 Parameter setting value entry table .........................................................................Appendix-6
Appendix 2.3 Positioning data setting value entry table ..............................................................Appendix-12
Appendix 3 Positioning data (No. 1 to 100), List of buffer memory addresses ..............................Appendix-13
Appendix 4 Connection examples with servo amplifiers manufactured
by MITSUBISHI Electric Corporation ............................................................................Appendix-16
Appendix 4.1 Connection example of A1SD75/AD75 and MR-H A
(Differential driver (Open collector)) .......................................................................Appendix-16
Appendix 4.2 Connection example of A1SD75/AD75 and MR-J2/J2S- A
(Differential driver (Open collector)) .......................................................................Appendix-17
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A - 12
Appendix 4.3 Connection example of A1SD75/AD75 and MR-C A
(Differential driver (Open collector)) .......................................................................Appendix-18
Appendix 5 Connection examples with stepping motors manufactured
by ORIENTALMOTOR Co., Ltd. ...................................................................................Appendix-19
Appendix 5.1 Connection example of A1SD75/AD75 and VEXTA UPD
(Open collector).......................................................................................................Appendix-19
Appendix 6 Connection examples with servo amplifiers manufactured
by Matsushita Electric Industrial Co., Ltd. .....................................................................Appendix-20
Appendix 6.1 Connection example of A1SD75/AD75 and MINAS-A series
(Differential driver)...................................................................................................Appendix-20
Appendix 7 Connection examples with servo amplifiers manufactured
by SANYO DENKI Co., Ltd............................................................................................Appendix-21
Appendix 7.1 Connection example of A1SD75/AD75 and PYO series
(Differential driver)...................................................................................................Appendix-21
Appendix 8 Connection examples with servo amplifiers manufactured
by YASKAWA Electric Corporation ...............................................................................Appendix-22
Appendix 8.1 Connection example of A1SD75/AD75 and Σ-series
(Differential driver)...................................................................................................Appendix-22
Appendix 9 Comparisons with conventional positioning modules ..................................................Appendix-23
Appendix 9.1 Comparisons with AD71 (S1), AD71S2 (A1SD71S2) models .............................Appendix-23
Appendix 9.2 Comparisons with A1SD75P1/A1SD75P2/A1SD75P3,
and AD75P1/ AD75P2/ AD75P3 models ...............................................................Appendix-24
Appendix 9.3 Comparisons with old versions of A1SD75P1-S3/A1SD75P2-S3/
A1SD75P3-S3, and AD75P1-S3/AD75P2-S3/AD75P3-S3 models......................Appendix-25
Appendix 10 MELSEC Explanation of positioning terms ................................................................Appendix-26
Appendix 11 Positioning control troubleshooting ............................................................................Appendix-46
Appendix 12 List of buffer memory addresses ................................................................................Appendix-52
INDEX Index-1 to Index-12
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MEMO
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About Manuals
The following manuals are also related to this product.
In necessary, order them by quoting the details in the tables below.
Related Manuals
Manual Name Manual Number
(Model Code)
AD75P1-S3/P2-S3/P3-S3 Positioning Module User's Manual (Hardware)
The AD75P1-S3/P2-S3/P3-S3 positioning module performance specifications, input/output interface,
names of each part and startup procedures, etc., are explained. (Enclosed with module)
IB-66733
(13J883)
A1SD75P1-S3/P2-S3/P3-S3 Positioning Module User's Manual (Hardware)
The A1SD75P1-S3/P2-S3/P3-S3 positioning module performance specifications, input/output interface,
names of each part and startup procedures, etc., are explained. (Enclosed with module)
IB-66732
(13J882)
Positioning module software package type SW1IVD-AD75P Operating Manual
The methods of creating data (parameters, positioning data, etc.), transmitting the data to the module,
monitoring the positioning and testing, etc., using the above software package are explained.
(Enclosed with each software package product)
IB-66714
(13J915)
GX Configurator-AP Version 1 Operating Manual
The methods of creating data (parameters, positioning data, etc.), transmitting the data to the module,
monitoring the positioning and testing, etc., using the above software package are explained.
(Enclosed with each software package product)
IB-66900
(13J948)
Conformation to the EMC and Low Voltage Directives
For details on making Mitsubishi PLC conform to the EMC directive and low voltage
instruction when installing it in your product, please refer to Chapter 3, “EMC Directive
and Low Voltage Instruction” of the using PLC CPU module User's Manual
(Hardware).
The CE logo is printed on the rating plate on the main body of the PLC that conforms
to the EMC directive and low voltage instruction.
To make this product conform to the EMC directive and low voltage instruction, please
refer to section 4.3.1 “Precautions for wiring”
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Using This Manual (1)
The symbols used in this manual are shown below.
Pr.*
....... Symbol indicating positioning parameter and zero point return
parameter item.
Da.*
....... Symbol indicating positioning data, start block data and condition
data item.
Md.*
....... Symbol indicating monitor data item.
Cd.*
....... Symbol indicating control data item.
(A serial No. is inserted in the * mark.)
Indication of values in this manual
•The buffer memory address, error code and warning code are indicated in a
decimal value.
•The X/Y device is indicated in a hexadecimal value.
•The setting data and monitor data is indicated in a decimal or hexadecimal value.
An “H” attached at the end of the value indicates a hexadecimal value.
(Examples)
10 Decimal
10HHexadecimal
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Using This Manual (2)
The methods for reading this manual are shown below.
5.1 Types of data
5.2 List of parameters
5.3 List of positioning data
5.4 List of start block data
5.5 List of condition data
5.6 List of monitor data
5.7 List of control data
Chapter 7 MEMORY CONFIGURATION
AND DATA PROCESS
Chapter 6 SEQUENCE PROGRAM USED
FOR POSITIONING CONTROL Chapter 14 TROUBLESHOOTING
Chapter 13 COMMON FUNCTIONS
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
Chapter 1 PRODUCT OUTLINE
Chapter 2 SYSTEM CONFIGURATION
Chapter 3 SPECIFICATIONS AND
FUNCTIONS
Chapter 4 INSTALLATION, WIRING AND
MAINTENANCE OF THE
PRODUCT
Chapter 5 DATA USED FOR
POSITIONING CONTROL
SECTION 2 CONTROL DETAILS AND SETTING
Chapter 8 ZERO POINT RETURN
CONTROL
Chapter 9 MAIN POSITIONING
CONTROL
Chapter 10 ADVANCED
POSITIONING CONTROL
Chapter 11 MANUAL CONTROL
Chapter 12 CONTROL AUXILIARY
FUNCTIONS
* Understand the data process in the AD75 as necessary.
6) Remedies for "Errors" and "Warnings"
5) Create a sequence program for control
4) While referring to lists in "SECTION 2" and "Chapter 5",
set the data required for each control
3) Set the parameters
2) Install and wire the product
1) →2) →3) →4) →5) →Test operation →6) →Actual operation
1) Understand the product functions and specifications,
and design the system.
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Using This Manual (3)
The contents of each chapter are shown below.
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
1 PRODUCT
OUTLINE
The basic contents for understanding positioning control using AD75 are
described. 1
2 SYSTEM
CONFIGURATION The devices required for positioning control using AD75 are described. 2
3 SPECIFICATIONS
AND FUNCTIONS The AD75 functions and performance specifications, etc., are described. 3
4 INSTALLATION,
WIRING AND
MAINTENANCE OF
THE PRODUCT
The procedures for installing and wiring the AD75, the precautions and
maintenance are described. 4
List of parameters Pr.
List of positioning data
List of start block data
List of condition data
Da.
List of monitor data Md.
5 DATA USED FOR
POSITIONING
CONTROL
The setting items, setting details and
range, default values, and setting
destination buffer memory address for
the parameters and data required for
positioning control are described.
List of control data
5
Cd.
6 SEQUENCE
PROGRAM USED
FOR POSITIONING
CONTROL
The sequence program required for positioning control is described.
(Create an actual program using this program as a reference.) 6
7 MEMORY
CONFIGURATION
AND DATA
PROCESS
The AD75 memory configuration and data process are described.
(Read this as required.) 7
SECTION 2 CONTROL DETAILS AND SETTING
8 ZERO POINT
RETURN
CONTROL
The details and settings for zero point return control are described. 8
9 MAIN
POSITIONING
CONTROL
The details and examples of settings for "Main positioning control" using the
"Positioning data" are described. 9
10 ADVANCED
POSITIONING
CONTROL
The details and examples of settings for "Advanced positioning control" using the
"Positioning data" are described. 10
11 MANUAL
CONTROL
The settings and sequence programs required for JOG operation or manual pulse
generator operation are described. 11
12 CONTROL
AUXILIARY
FUNCTIONS
The settings and sequence programs required for using the auxiliary functions are
described. 12
13 COMMON
FUNCTIONS
The settings and sequence programs required for using the common functions
are described. 13
14 TROUBLESHOOTING The errors and warnings detected by the AD75 are described. 14
APPENDICES Examples of wiring, a glossary and list of buffer memory addresses are described.
(Read this as required.) APPENDICES
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