MELSEC-L LD75P/LD75D Positioning Module
User's Manual
-LD75P1
-LD75P2
-LD75P4
-LD75D1
-LD75D2
-LD75D4
SAFETY PRECAUTIONS
WARNING
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 minor or moderate injury or property damage.
(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 user's manual for the CPU module used.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".
Under some circumstances, failure to observe the precautions given under " 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]
WARNING
● 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) 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) Machine OPR (Original Point Return) is controlled by two kinds of data: 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.
(3) 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 parameter according to
the positioning system specifications. In addition, set the OPR parameter and positioning data
within the parameter setting range.
(4) Outputs may remain on or off, or be undefined due to a failure of a component such as an
insulated element or transistor in an output circuit, where the CPU module cannot detect any
error. Configure an external circuit for monitoring output signals in a system where an incorrect
output could cause a serious accident.
1
[Design Precautions]
WARNING
● Do not write any data to the "system area" of the buffer memory in the intelligent function module.
Also, do not use any "use prohibited" signals as an output signal from the CPU module to the
intelligent function module.
Doing so may cause malfunction of the programmable controller system.
● An absolute position restoration by the positioning function may turn off the 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]
CAUTION
● 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.
[Installation Precautions]
WARNING
● Shut off the external power supply (all phases) used in the system before mounting or removing a
module. Failure to do so may result in electric shock or cause the module to fail or malfunction.
[Installation Precautions]
CAUTION
● Use the programmable controller in an environment that meets the general specifications in the Safety
Guidelines provided with the CPU module or head module. Failure to do so may result in electric
shock, fire, malfunction, or damage to or deterioration of the product.
● To interconnect modules, engage the respective connectors and securely lock the module joint levers
until they click. Incorrect interconnection may cause malfunction, failure, or drop of the module.
[Wiring Precautions]
WARNING
● Check the terminal layout before wiring to the module, and connect the cables correctly.
2
[Wiring Precautions]
CAUTION
● Use applicable solderless terminals.
Failure to do so may result in malfunction or damage to the module or cables.
● Tighten the connector screws within the specified torque range.
Undertightening can cause short circuit, fire, or malfunction.
Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or
malfunction.
● Connectors for external devices must be crimped with the tool specified by the manufacturer or must
be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction.
● 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.
● 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.
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 foreign 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.
3
[Startup and Maintenance Precautions]
WARNING
● Shut off the external power supply (all phases) used in the system before cleaning the module or
retightening the connector screws. Failure to do so may result in electric shock.
[Startup and Maintenance Precautions]
CAUTION
● Do not disassemble or modify the module. Doing so may cause failure, malfunction, injury, or a fire.
● Shut off the external power supply (all phases) used in the system before mounting or removing a
module. Failure to do so may cause the module to fail or malfunction.
● After the first use of the product (module, display unit, and terminal block), the number of
connections/disconnections is limited to 50 times (in accordance with IEC 61131-2). Exceeding the
limit may cause malfunction.
● 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.
● 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.
[Operating Precautions]
CAUTION
● 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.
● Note that when the reference axis speed is specified for interpolation operation, the speed of the
partner axis (2nd, 3rd, or 4th axis) may be faster than the set speed (may exceed the speed limit).
[Disposal Precautions]
CAUTION
● When disposing of this product, treat it as industrial waste.
4
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 automatically 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 Chemicals, 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.
5
INTRODUCTION
Thank you for purchasing the Mitsubishi Electric MELSEC-L series programmable controllers.
This manual describes the functions and programming of the positioning module.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the MELSEC-L series programmable controller to handle the product correctly.
When applying the program examples introduced 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.
● Unless otherwise specified, this manual describes the program examples in which the I/O numbers of X/Y00 to X/Y1F are
assigned for an L series positioning module. I/O numbers must be assigned to apply the program examples introduced in
this manual to an actual system. For I/O number assignment, refer to the following.
MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals)
● Operating procedures are explained using GX Works2. When using GX Developer, refer to Page 767, Appendix 7.
6
COMPLIANCE WITH EMC AND LOW VOLTAGE
DIRECTIVES
(1) For programmable controller system
To ensure that Mitsubishi Electric 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.
• MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)
• MELSEC-L CC-Link IE Field Network Head Module User's Manual
• Safety Guidelines (This manual is included with the CPU module or head module.)
The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage
Directives.
(2) For the product
To ensure that this product maintains EMC and Low Voltage Directives, please refer to Page 84, Section
4.3.1.
7
RELEVANT MANUALS
(1) CPU module user's manual
Manual name
<manual number (model code)>
MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and
Inspection)
<SH-080890ENG, 13JZ36>
MELSEC-L CPU Module User's Manual (Function Explanation, Program
Fundamentals)
<SH-080889ENG, 13JZ35>
(2) Head module User's Manual
Manual name
<manual number (model code)>
MELSEC-L CC-Link IE Field Network Head Module User's Manual
<SH-080919ENG, 13JZ48>
MELSEC-Q CC-Link IE Field Network Master/Local Module User's Manual
<SH-080917ENG, 13JZ47>
Description
Specifications of the CPU modules, power supply modules, display unit,
branch module, extension module, SD memory cards, and batteries,
information on how to establish a system, maintenance and inspection, and
troubleshooting (Sold separately)
Functions and devices of the CPU module, and programming (Sold
separately)
Description
Specifications, procedures before operation, system configuration, installation,
wiring, settings, and troubleshooting of the head module (Sold separately)
Overview of the CC-Link IE Field Network, and specifications, procedures
before operation, system configuration, installation, settings, functions,
programming, and troubleshooting of the CC-Link IE Field Network
master/local module (Sold separately)
(3) Operating manual
Manual name
<manual number (model code)>
GX Works2 Version 1 Operating Manual (Common)
<SH-080779ENG, 13JU63>
GX Works2 Version 1 Operating Manual (Intelligent Function Module)
<SH-080921ENG, 13JU69>
GX Developer Version 8 Operating Manual
<SH-080373E, 13JU41>
GX Configurator-QP Version 2 Operating Manual
<SH-080172, 13JU19>
*1 The manual is included in the CD-ROM of the software package in a PDF-format file.
Printed manuals are sold separately. To order manuals, please provide the manual number (model code) listed in the
table above.
Description
System configuration, parameter settings, and online operations of GX
Works2, which are common to Simple projects and Structured projects (Sold
separately)
Parameter settings, monitoring, and operations of the pre-defined protocol
support function of intelligent function modules, using GX Works2 (Sold
separately)
Operating methods of GX Developer, such as programming, printing,
monitoring, and debugging (Sold separately)
Data creation (such as parameters and positioning data) and operations of
transferring data to modules, positioning monitor, and tests using GX
Configurator-QP (Sold separately)
*1
8
Memo
9
CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MANUAL PAGE ORGANIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
PACKING LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
PART 1 PRODUCT SPECIFICATIONS AND HANDLING
CHAPTER 1 PRODUCT OUTLINE 22
1.1 Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.1.1 Features of LD75 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
1.1.2 Purpose and applications of positioning control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
1.1.3 Mechanism of positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.1.4 Outline design of positioning system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
1.1.5 Communicating signals between LD75 and each module . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
1.2 Flow of System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.2.1 Flow of all processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
1.2.2 Outline of starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
1.2.3 Outline of stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
1.2.4 Outline of restarting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
1.3 Restrictions on Using a Stepping Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
CHAPTER 2 SYSTEM CONFIGURATION 44
2.1 General Image of System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.2 Configuration List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.3 Applicable System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.4 Checking Serial Number and Function Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.5 Restrictions When the LD75 Is Connected to Head Module . . . . . . . . . . . . . . . . . . . . . . . . . . 48
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 49
3.1 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.2 List of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.2.1 LD75 control functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
3.2.2 LD75 main functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
3.2.3 LD75 sub functions and common functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
3.2.4 Combination of LD75 main functions and operation pattern . . . . . . . . . . . . . . . . . . . . . . . . . .58
3.2.5 Combination of LD75 main functions and sub functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
3.3 Specifications of Input/Output Signals with CPU Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.3.1 List of input/output signals with CPU module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
3.3.2 Details of input signals (LD75 to CPU module) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
3.3.3 Details of output signals (CPU module to LD75) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
3.4 Specifications of Input/Output Interfaces with External Devices. . . . . . . . . . . . . . . . . . . . . . . . 69
10
3.4.1 Electrical specifications of input/output signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
3.4.2 Signal layout for external device connection connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
3.4.3 List of input/output signal details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
3.4.4 Input/output interface internal circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT 79
4.1 Outline of Installation, Wiring, and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.1.1 Installation, wiring and, maintenance procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.1.2 Names of each part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
4.1.3 Handling precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
4.2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4.2.1 Installation precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
4.3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.3.1 Wiring precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
4.3.2 Wiring of the differential driver common terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
4.4 Checking Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
4.4.1 Items to check when installation and wiring are completed . . . . . . . . . . . . . . . . . . . . . . . . . . .91
4.5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4.5.1 Maintenance precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
4.5.2 Disposal precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
CHAPTER 5 DATA USED FOR POSITIONING CONTROL 93
5.1 Types of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5.1.1 Parameters and data required for control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5.1.2 Setting items for positioning parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
5.1.3 Setting items for OPR parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108
5.1.4 Setting items for positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
5.1.5 Setting items for block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
5.1.6 Setting items for condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
5.1.7 Types and roles of monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114
5.1.8 Types and roles of control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
5.2 List of Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
5.2.1 Basic parameters 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
5.2.2 Basic parameters 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
5.2.3 Detailed parameters 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
5.2.4 Detailed parameters 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
5.2.5 OPR basic parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140
5.2.6 OPR detailed parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
5.3 List of Positioning Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
5.4 List of Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
5.5 List of Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
5.6 List of Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
5.6.1 System monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182
5.6.2 Axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
5.7 List of Control Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
5.7.1 System control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
11
5.7.2 Axis control data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213
CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 235
6.1 Precautions for Creating Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
6.2 List of Devices Used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
6.3 Creating a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
6.3.1 General configuration of program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .257
6.3.2 Positioning control operation program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .258
6.4 Positioning Program Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
6.4.1 When using the LD75 in a standard system configuration. . . . . . . . . . . . . . . . . . . . . . . . . . .261
6.4.2 When the LD75 is connected to head module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .272
6.5 Program Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
6.5.1 Initialization program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .286
6.5.2 Start details setting program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .287
6.5.3 Start program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .288
6.5.4 Continuous operation interrupt program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .296
6.5.5 Restart program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .298
6.5.6 Stop program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .301
CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS 305
7.1 Configuration and Roles of LD75 Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
7.1.1 Configuration and roles of LD75 memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .305
7.1.2 Buffer memory area configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307
7.2 Data Transmission Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
PART 2 CONTROL DETAILS AND SETTING
CHAPTER 8 OPR CONTROL 316
8.1 Outline of OPR Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
8.1.1 Two types of OPR control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .316
8.2 Machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
8.2.1 Outline of the machine OPR operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
8.2.2 Machine OPR method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319
8.2.3 OPR method (1): Near-point dog method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .321
8.2.4 OPR method (2): Stopper method 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .323
8.2.5 OPR method (3): Stopper method 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .327
8.2.6 OPR method (4): Stopper method 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .330
8.2.7 OPR method (5): Count method 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332
8.2.8 OPR method (6): Count method 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .335
8.3 Fast OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
8.3.1 Outline of the fast OPR operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .337
12
CHAPTER 9 MAJOR POSITIONING CONTROL 339
9.1 Outline of Major Positioning Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
9.1.1 Data required for major positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .341
9.1.2 Operation patterns of major positioning controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .342
9.1.3 Designating the positioning address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .352
9.1.4 Confirming the current value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .353
9.1.5 Control unit "degree" handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .355
9.1.6 Interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .359
9.2 Setting the Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
9.2.1 Relation between each control and positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .364
9.2.2 1-axis linear control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .366
9.2.3 2-axis linear interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .368
9.2.4 3-axis linear interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372
9.2.5 4-axis linear interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .376
9.2.6 1-axis fixed-feed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .379
9.2.7 2-axis fixed-feed control (interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .381
9.2.8 3-axis fixed-feed control (interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .384
9.2.9 4-axis fixed-feed control (interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .388
9.2.10 2-axis circular interpolation control with sub point designation . . . . . . . . . . . . . . . . . . . . . . .391
9.2.11 2-axis circular interpolation control with center point designation . . . . . . . . . . . . . . . . . . . . .395
9.2.12 3-axis helical interpolation control with sub point designation . . . . . . . . . . . . . . . . . . . . . . . .402
9.2.13 3-axis helical interpolation control with center point designation . . . . . . . . . . . . . . . . . . . . . .408
9.2.14 1-axis speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .416
9.2.15 2-axis speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .419
9.2.16 3-axis speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .422
9.2.17 4-axis speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .425
9.2.18 Speed-position switching control (INC mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
9.2.19 Speed-position switching control (ABS mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .435
9.2.20 Position-speed switching control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .441
9.2.21 Current value changing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
9.2.22 NOP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .451
9.2.23 JUMP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
9.2.24 LOOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .454
9.2.25 LEND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .455
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 456
10.1 Outline of High-Level Positioning Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
10.1.1 Data required for high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .457
10.1.2 "Block start data" and "condition data" configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .458
10.2 High-Level Positioning Control Execution Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
10.3 Setting the Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
10.3.1 Relation between various controls and block start data. . . . . . . . . . . . . . . . . . . . . . . . . . . . .461
10.3.2 Block start (Normal start) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .462
10.3.3 Condition start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .464
10.3.4 Wait start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .465
10.3.5 Simultaneous start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .466
13
10.3.6 Repeated start (FOR loop). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .467
10.3.7 Repeated start (FOR condition) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .468
10.3.8 Restrictions when using the NEXT start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .469
10.4 Setting the Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
10.4.1 Relation between various controls and the condition data. . . . . . . . . . . . . . . . . . . . . . . . . . .470
10.4.2 Condition data setting examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .472
10.5 Multiple Axes Simultaneous Start Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
10.6 Start Program for High-Level Positioning Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
10.6.1 Starting high-level positioning control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .475
10.6.2 Example of a start program for high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . .476
CHAPTER 11 MANUAL CONTROL 479
11.1 Outline of Manual Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
11.1.1 Three manual control methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .479
11.2 JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
11.2.1 Outline of JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .481
11.2.2 JOG operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .484
11.2.3 Setting the required parameters for JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .485
11.2.4 Creating start programs for JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .486
11.2.5 JOG operation example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488
11.3 Inching Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
11.3.1 Outline of inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .491
11.3.2 Inching operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .494
11.3.3 Setting the required parameters for inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .495
11.3.4 Creating a program to enable/disable the inching operation . . . . . . . . . . . . . . . . . . . . . . . . .496
11.3.5 Inching operation example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .498
11.4 Manual Pulse Generator Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
11.4.1 Outline of manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .499
11.4.2 Manual pulse generator operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . .503
11.4.3 Setting the required parameters for manual pulse generator operation. . . . . . . . . . . . . . . . .504
11.4.4 Creating a program to enable/disable the manual pulse generator operation . . . . . . . . . . . .505
CHAPTER 12 CONTROL SUB FUNCTIONS 507
12.1 Outline of Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
12.1.1 Outline of sub functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .508
12.2 Sub Functions Specifically for Machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
12.2.1 OPR retry function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510
12.2.2 OP shift function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .515
12.3 Functions for Compensating the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
12.3.1 Backlash compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .518
12.3.2 Electronic gear function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .520
12.3.3 Near pass function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .525
12.3.4 Output timing selection of near pass control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .527
12.4 Functions to Limit the Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
12.4.1 Speed limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .530
12.4.2 Torque limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .532
14
12.4.3 Software stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .535
12.4.4 Hardware stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .541
12.5 Functions to Change the Control Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
12.5.1 Speed change function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .543
12.5.2 Override function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .550
12.5.3 Acceleration/deceleration time change function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .553
12.5.4 Torque change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .557
12.5.5 Target position change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .559
12.6 Absolute Position Restoration Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
12.7 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
12.7.1 Step function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .572
12.7.2 Skip function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .577
12.7.3 M code output function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .580
12.7.4 Teaching function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .586
12.7.5 Command in-position function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .593
12.7.6 Acceleration/deceleration processing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .596
12.7.7 Pre-reading start function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .598
12.7.8 Deceleration start flag function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .602
12.7.9 Stop command processing for deceleration stop function . . . . . . . . . . . . . . . . . . . . . . . . . . .606
CHAPTER 13 COMMON FUNCTIONS 609
13.1 Outline of Common Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
13.2 Parameter Initialization Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
13.3 Execution Data Backup Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
13.4 External I/O Signal Logic Switching Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
13.5 External I/O Signal Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615
13.6 History Monitor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616
13.7 Module Error Collection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
CHAPTER 14 DEDICATED INSTRUCTIONS 619
14.1 List of Dedicated Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
14.2 Interlock During Dedicated Instruction Is Executed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
14.6 ZP.PFWRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633
14.7 ZP.PINIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
CHAPTER 15 TROUBLESHOOTING 640
15.1 Checking Errors Using GX Works2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
15.2 Checking Errors Using a Display Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
15.3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644
15.4 Error and Warning Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
15.4.1 Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .647
15
15.4.2 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .648
15.4.3 Resetting errors and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .649
15.4.4 Checking the warning details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .649
15.5 List of Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650
15.6 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676
APPENDICES 682
Appendix 1 Function Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682
Appendix 1.1 Function comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .682
Appendix 2 Format Sheets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
Appendix 2.1 Positioning module operation chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .684
Appendix 2.2 Parameter setting value entry table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .686
Appendix 3 Positioning Data (No.1 to 600) List of Buffer Memory Addresses. . . . . . . . . . . . . . . . . 693
Appendix 4 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725
Appendix 4.1 Connection examples with servo amplifiers manufactured
by MITSUBISHI Electric Corporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .725
Appendix 4.2 Connection examples with stepping motors manufactured
by ORIENTALMOTOR Co., Ltd.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .729
Appendix 4.3 Connection examples with servo amplifiers manufactured
by Panasonic Corporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .731
Appendix 4.4 Connection examples with servo amplifiers manufactured
by SANYO DENKI Co., Ltd. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .733
Appendix 4.5 Connection examples with servo amplifiers manufactured
by YASKAWA Electric Corporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .734
Appendix 5 Differences with Q Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735
Appendix 6 When Using GX Works2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737
Appendix 6.1 Adding a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .738
Appendix 6.2 Parameter setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .739
Appendix 6.3 Setting auto refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .745
Appendix 6.4 Positioning monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .746
Appendix 6.5 Positioning test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .756
Appendix 6.6 Wave trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .763
Appendix 6.7 Location trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .765
Appendix 7 When Using GX Developer or GX Configurator-QP . . . . . . . . . . . . . . . . . . . . . . . . . . . 767
Appendix 7.1 Operation of GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .767
Appendix 7.2 Operation of GX Configurator-QP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .768
Appendix 8 MELSEC Explanation of Positioning Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769
Appendix 9 Positioning Control Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789
Appendix 10List of Buffer Memory Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 793
Appendix 11 External Dimension Drawing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 802
INDEX 805
REVISIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 813
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 814
16
MANUAL PAGE ORGANIZATION
Ex.
The following manuals are also related to this product.
The following symbols represent the buffer memories supported for axis 1 to 4.
(A serial No. is inserted in the "*" mark.)
Symbol Description Reference
[Pr. *] Symbol indicating positioning parameter and OPR parameter item.
[Da. *] Symbol indicating positioning data, block start data and condition data item.
[Md. *] Symbol indicating monitor data item.
[Cd. *] Symbol indicating control data item.
Representation of numerical values used in this manual.
• Buffer memory addresses, error codes and warning codes are represented in decimal.
• X/Y devices are represented in hexadecimal.
• Setting data and monitor data are represented in decimal or hexadecimal. Data ended by "H" are
represented in hexadecimal.
10 Decimal
10H Hexadecimal
Page 93, CHAPTER 5
17
TERMS
Unless otherwise specified, this manual uses the following terms.
For the unique terms of the positioning module, refer to Page 769, Appendix 8.
Ter m Description
CPU module The abbreviation for the MELSEC-L series CPU module
GX Configurator-QP A setting and monitoring tool (for positioning modules)
GX Developer
GX Works2
LCPU Another term for the MELSEC-L series CPU module
LD75 Another term for the MELSEC-L series positioning module
LD75D Generic term for positioning module LD75D1, LD75D2, LD75D4
LD75P Generic term for positioning module LD75P1, LD75P2, LD75P4
Intelligent function module
Drive unit (servo amplifier)
Programming tool A generic term for GX Works2 and GX Developer
Head module The Abbreviation for the LJ72GF15-T2 CC-Link IE Field Network head module
Master/local module Abbreviation for the QJ71GF11-T2 CC-Link IE Field Network master/local module
The product name of the software package for the MELSEC programmable controllers
A MELSEC-Q/L series module that has functions other than input or output, such as A/D converter module and D/A
converter module
A unit used to amplify the power and control the motor in the operation by the positioning function since the signals,
such as pulses, that are output from the positioning function of the CPU module or from the positioning module, are low
voltage and small current. The unit, also called a servo amplifier, is provided with a servomotor and step motor.
18
PACKING LIST
LD75P1 Before Using the Product
LD75P2 Before Using the Product
LD75P4 Before Using the Product
The following items are included in the package of this product. Before use, check that all the items are included.
(1) LD75P1
(2) LD75P2
(3) LD75P4
19
(4) LD75D1
LD75D1 Before Using the Product
LD75D2 Before Using the Product
LD75D4 Before Using the Product
(5) LD75D2
(6) LD75D4
20
PART 1 PRODUCT SPECIFICATIONS
AND HANDLING
Part 1 consists of the following chapters.
CHAPTER 1 PRODUCT OUTLINE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
CHAPTER 2 SYSTEM CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT . . . . . . . . 79
CHAPTER 5 DATA USED FOR POSITIONING CONTROL . . . . . . . . . . . . . . . . . . . . . . . 93
CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL . . . . . . . . . . . . . . . . . 235
CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS . . . . . . . . . . . . . . . . 305
21
CHAPTER 1 PRODUCT OUTLINE
1.1 Positioning Control
1.1.1 Features of LD75
The LD75 has the following features.
(1) Selection of modules
The pulse output types of the available modules are either the open collector output system or the differential
driver output system. A module can be selected from the following depending on the drive unit type and the
number of axes.
• Open collector output system: LD75P1/LD75P2/LD75P4
• Differential driver output system: LD75D1/LD75D2/LD75D4
(2) High-speed start time
High-speed start time (1.5ms for 1-axis linear control) during positioning control is achieved.
(3) High-speed pulse output
The modules with a differential driver (LD75D) incorporate the improvements in pulse output speed and
maximum distance to the drive unit.
•LD75D: 4Mpulse/s, 10m max.
(4) Wide variety of positioning control functions
The main functions (such as OPR control, positioning control, and manual control) which are required for any
positioning system and the sub functions which limit and add functions to those controls are supported.
(a) Enhanced OPR control
• Additional features of OPR control
Six machine OPR methods are provided: one near-point dog method, three stopper methods, and two
count methods. Select an applicable method according to the system.
• OPR retry function
The OPR retry function is provided so that the machine OPR control can be performed from any position,
regardless of the machine stop position when the system is powered on.
(b) Wide variety of control methods
Twenty kinds of positioning controls, such as position control, speed control, speed-position switching control,
position-speed switching control, and other controls, are provided.
• Independent control of each axis
Controls, such as position control and speed control, can be performed independently for each axis at
any given timing.
• Interpolation control
Interpolation controls using multiple axes can be performed. (2- to 4-axis linear control, 2-axis circular
interpolation control, 2- to 4-axis speed control, 3-axis helical interpolation control)
22
CHAPTER 1 PRODUCT OUTLINE
(c) Large amount of data
Up to 600 positioning data (combinations of data, such as control system, positioning address, and command
speed) per axis can be set.
(d) Continuous processing of multiple positioning data
Multiple positioning data can be processed continuously within one positioning operation.
Continuous positioning control can be executed over multiple blocks, where each block consists of multiple
positioning data.
This reduces the number of executions of positioning, management of execution status, and others.
(e) Acceleration/deceleration processing
Two acceleration/deceleration processing methods are provided: trapezoidal acceleration/deceleration and S-
curve acceleration/deceleration. The acceleration/deceleration curve can be selected according to the machine
characteristic. (Note that there is a restriction on executing the S-curve acceleration/deceleration for the
system using stepping motors. ( Page 43, Section 1.3))
(5) High maintainability
Maintainability is enhanced in the LD75.
(a) Data retention without battery
Data such as the positioning data and parameters can be stored in the flash ROM inside the LD75. This feature
allows the module to retain the data without a battery.
1
(b) Module error collection function
Like the QD75, the LD75 stores 16 error logs. Also the LD75 notifies error details to the CPU module when an
error occurs. Storing the error information in the CPU module allows the user to check the error from the
programming tool even after the module is powered off or reset.
(6) Support of intelligent function module dedicated instructions
Dedicated instructions such as the absolute position restoration instruction, positioning start instruction, and
teaching instruction are provided.
The use of such dedicated instructions simplifies programs.
(7) Setting, monitoring, and testing through GX Works2
Parameters and positioning data for the LD75 can be set using GX Works2.
Moreover, using the test function of GX Works2, users can check the wiring status and the validity of the preset
parameters and positioning data by performing test operation before creating a program for positioning control.
The control monitor function of GX Works2 allows user to debug programs efficiently.
1.1 Positioning Control
23
1.1.2 Purpose and applications of positioning control
Conveyor
Conveyor control
Servomotor
(with brakes)
Servo amplifier
Reduction
gears
Ball screw
Position detector
Unloader control
Palletizer
(From LD75)
LD75
"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece")
at a designated speed, and accurately stopping it at the target position.
The main application examples are shown below.
(1) Punch press (X, Y feed positioning)
Y axis
servomotor
Gear and ball screw
Servo
amplifier
Servo amplifier
Press head
Y axis
X axis
Y axis
X axis
servomotor
160mm
320mm
Press punching
12s
X axis
Gear and rack & pinion
X axis
Y axis
LD75
15m/min
(2000r/min)
15m/min
(1875r/min)
• To punch insulation material or leather, etc., as the same shape at a high yield, positioning is carried out with
the X axis and Y axis servos.
• After positioning the table with the X axis servo, the press head is positioned with the Y axis servo, and is
then punched with the press.
• When the material type or shape changes, the press head die is changed, and the positioning pattern is
changed.
(2) Palletizer
24
• Using the servo for one axis, the palletizer is positioned at a high accuracy.
• The amount to lower the palletizer according to the material thickness is saved.
CHAPTER 1 PRODUCT OUTLINE
Servomotor
Servo
amplifier
Coupling
Reduction
gears
Positioning pin
ATC tool
magazine
Tool
(12 pcs., 20 pcs.)
Rotation direction
for calling
11, 12, 1, 2 or 3
<No. of tools: 20><No. of tools: 12>
LD75
Current
value
retrieval
position
Current
value
retrieval
position
Rotation direction
for calling
17 to 20, 1 to 5
Rotation direction
for calling 7 to 16
Rotation direction
for calling
5, 6, 7, 8, 9 or 10
LD75
B conveyor
C conveyor
A conveyor
Aging rack
Servo amplifier
Unloader
Loader
Servomotor
Servo amplifier
Servomotor
(with brakes)
Loader/unloader
Lifter
Counterweight
Reduction
gears
(3) Compact machining center (ATC magazine positioning)
• The ATC tool magazine for a compact machining center is positioned.
• The relation of the magazine's current value and target value is calculated, and positioning is carried out with
forward run or reverse run to achieve the shortest access time.
(4) Lifter (Storage of Braun tubes onto aging rack)
1
• During the aging process of braun tubes, storage onto the rack is carried out by positioning with the AC
servo.
• The up/down positioning of the lifter is carried out with the 1-axis servo, and the horizontal position of the
aging rack is positioned with the 2-axis servo.
1.1 Positioning Control
25
(5) Index table (High-accuracy indexing of angle)
LD75
Digital switch
Index table
Worm gears
Detector
Servomotor
Servo
amplifier
LD75
Servomotor
Motor
Workpiece
Grinding stone
Motor
Inverter
Inverter
Servo
amplifier
220VAC
60Hz
Operation panel
Fix the grinding stone,
feed the workpiece,
and grind.
a. Total feed
amount ( m)
b. Finishing
feed amount ( m)
c. Compensation
amount ( m)
d. Rough grind ing speed ( m/s)
e. Fine grinding
speed ( m/s)
• The index table is positioned at a high accuracy using the 1-axis servo.
(6) Inner surface grinder
26
• The grinding of the workpiece's inner surface is controlled with the servo and inverter.
• The rotation of the workpiece is controlled with the 1-axis inverter, and the rotation of the grinding stone is
controlled with the 2-axis inverter. The workpiece is fed and ground with the 3-axis servo.
CHAPTER 1 PRODUCT OUTLINE
GX Works2
Motor
Workpiece
CPU
module
Stores the created program.
Outputs the start signal and stop signal to
the LD75 following the stored program.
LD75 errors, etc., are detected.
Creates control order and
conditions as a program.
Sets the parameters and positioning
data for control.
Outputs the start command for JOG
operation, etc., during test
operation with the test function.
Monitors the positioning
operation.
Outputs signals such as the start
signal, stop signal, limit signal and
control changeover signal to the LD75.
External
signal
Manual pulse
generator
Issues commands by
transmitting pulses.
Stores the parameter and data.
Outputs pulses to the servo according to the
instructions from the CPU module, GX Works2,
external signals and manual pulse generator.
Receives pulse commands from the LD75, and drives
the motor.
Outputs the drive unit READY signal and zero signal
to the LD75.
Carries out the actual work according to commands
from the servo.
LD75
positioning
module
Servo
amplifier
1.1.3 Mechanism of positioning control
Positioning control using the LD75 is carried out with "pulse signals". (The LD75 is a module that generates pulses).
In the positioning system using the LD75, various software and devices are used for the following roles.
The LD75 realizes complicated positioning control when it reads in various signals, parameters and data and is
controlled with the CPU module.
1
1.1 Positioning Control
27
The principle of "position control" and "speed control" operation is shown below.
Total No. of pulses
required to move
designated distance
=
Designated distance
Movement amount of machine (load)
side when motor rotates once
No. of pulses
required for motor to
rotate once
The No. of pulses required for the motor to rotate once is the "encoder resolution"
described in the motor catalog specification list.
Positioning
module
Servo
amplifier
Servo
motor
Detector
(Pulse
encoder)
Feedback pulses
Speed = Pulses frequency
Movement amount = No.of pulses
Feedback pulses =
Pulses generated by detector
(1) Position control
The total No. of pulses required to move the designated distance is obtained in the following manner.
When this total No. of pulses is issued from the LD75 to the servo amplifier, control to move the designated
distance can be executed.
The machine side movement amount when one pulse is issued to the servo amplifier is called the "movement
amount per pulse". This value is the min. value for the workpiece to move, and is also the electrical positioning
precision.
(2) Speed control
The "Total No. of pulses" mentioned above is invariably required for controlling the distance. For positioning or
speed control, the speed must be controlled as well.
The speed is determined by the frequency of pulses sent from the LD75 to the drive unit.
The LD75 controls the position with the "total No. of pulses", and the speed with the "pulse frequency".
28
Pulse frequency [pulse/s]
A
ta
0.4 0.41.2
Movement amount t = 2
This area is the total
No. of commanded
pulses.
td
(s)
Loading...