Mitsubishi Electronics Drums QD75MH1 User manual

Type
User manual

This manual is also suitable for

A - 1
SAFETY PRECAUTIONS
(Please 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.
Refer to the Users manual of the QCPU module to use for a description of the PLC system safety
precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
DANGER
Indicates that incorrect handling may cause hazardous
conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous
conditions, resulting in medium or slight personal injury or
physical damage.
Depending on circumstances, procedures indicated by
CAUTION may also be linked to serious
results.
In any case, it is important to follow the directions for usage.
Please save this manual to make it accessible when required and always forward it to the end user.
A - 2
For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the module and servo amplifier are charged
and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or removing
the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Be sure to ground the module, servo amplifier and servomotor (Ground resistance : 100 or
less). Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the module, servo amplifier and servomotor. Failing to do so may
lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the module, servo amplifier, servomotor connector or terminal blocks while the
power is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the module and servo
amplifier, as this may lead to electric shocks.
2. For fire prevention
CAUTION
Install the module, servo amplifier, servomotor and regenerative resistor on incombustible.
Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the module or servo amplifier, shut the power OFF at the servo amplifier's
power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to fire
.
A - 3
3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of module or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions. Mistaken handling of the unit may lead to faults,
injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the module and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the module, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the CPU module, base unit and positioning module with the correct combinations listed in the
instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo
amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of
the module or servo amplifier differ from the safety directive operation in the system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency
stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic
brakes.
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
A - 4
CAUTION
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than module, servo amplifier and servomotor)
used in a system must be compatible with the module, servo amplifier and servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the
life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.
(2) Parameter settings and programming
CAUTION
Set the parameter values to those that are compatible with the module, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to
the operation mode, servo amplifier and servo power supply module. The protective functions
may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system
application. The protective functions may not function if the setting is incorrect.
Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value
that is compatible with the system application. The protective functions may not function if the
setting is incorrect.
Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that
are compatible with the system application. The protective functions may not function if the
settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction
manual.
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
A - 5
CAUTION
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
(3) Transportation and installation
CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the module or servo amplifier, never hold the connected wires or cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the module or servo amplifier, never hold the front case as it may fall off.
When transporting, installing or removing the module or servo amplifier, never hold the edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the module or servo amplifier and control panel inner
surface or the module and servo amplifier, module or servo amplifier and other devices.
Do not install or operate modules, servo amplifiers or servomotors that are damaged or that have
missing parts.
Do not block the intake/outtake ports of the servo amplifier and servomotor with cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil
enter the module, servo amplifier or servomotor.
The module, servo amplifier and servomotor are precision machines, so do not drop or apply
strong impacts on them.
Securely fix the module, servo amplifier and servomotor to the machine according to the
instruction manual. If the fixing is insufficient, these may come off during operation.
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
A - 6
CAUTION
Store and use the unit in the following environmental conditions.
Conditions
Environment
Module/Servo amplifier Servomotor
Ambient
temperature
According to each instruction manual.
0°C to +40°C (With no freezing)
(32°F to +104°F)
Ambient humidity
According to each instruction manual.
80% RH or less
(With no dew condensation)
Storage
temperature
According to each instruction manual.
-20°C to +65°C
(-4°F to +149°F)
Atmosphere
Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude
1000m (3280.84ft.) or less above sea level
Vibration
According to each instruction manual
When coupling with the servomotor shaft end, do not apply impact such as by hitting with a
hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead
to shaft breakage.
When not using the module for a long time, disconnect the power line from the module or servo
amplifier.
Place the module and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
Make sure that the connectors for the servo amplifier and peripheral devices have been securely
installed until a click is heard.
Not doing so could lead to a poor connection, resulting in erroneous input and output.
(4) Wiring
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal
screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on
the output side of the servo amplifier.
Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the
servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
A - 7
CAUTION
Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control
signal output of brake signals, etc. Incorrect installation may lead to signals not being output
when trouble occurs or the protective functions not functioning.
DICOM
RA
Control output
signal
DOCOM
Servo amplifier
24VDC
Control output
signal
DICOM
DOCOM
Servo amplifier
RA
24VDC
For the sink output interface For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables combing off during operation.
Do not bundle the power line or cables.
Use applicable solderless terminals and tighten them with the specified torque.
If any solderless spade terminal is used, it may be disconnected when the terminal screw comes
loose, resulting in failure.
(5) Trial operation and adjustment
CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the module or
absolute value motor has been replaced, always perform a home position return.
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.
A - 8
(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
module, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or parameters
have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our
company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc.
Electromagnetic obstacles may affect the electronic devices used near the module or servo
amplifier.
When using the CE Mark-compliant equipment design, refer to the "EMC Installation Guidelines"
(data number IB(NA)-67339) and refer to the corresponding EMC guideline information for the
servo amplifiers and other equipment.
Note that when the reference axis speed is designated for interpolation operation, the speed of
the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than
the speed limit value).
Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual.
Input frequency According to each instruction manual.
Tolerable momentary power failure According to each instruction manual.
A - 9
(7) Corrective actions for errors
CAUTION
If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details
according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a servomotor
with electromagnetic brakes or install a brake mechanism externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Electro-
magnetic
brakes
Servomotor
24VDC
RA1
EMG
Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.
Shut off with the
emergency stop
signal(EMG).
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)
(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the
module and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the module or servo amplifier on metal that may cause a power leakage or wood,
plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the module or servo amplifier, always set the new module settings correctly.
When the module or absolute value motor has been replaced, carry out a home position return
operation using one of the following methods, otherwise position displacement could occur.
1) After writing the servo data to the positioning module using programming software, switch on
the power again, then perform a home position return operation.
A - 10
CAUTION
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
module or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not mount/remove the module onto/from the base unit more than 50 times (IEC61131-2-
compliant), after the first use of the product. Failure to do so may cause malfunction.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
(9) About processing of waste
When you discard module, servo amplifier, a battery (primary battery) and other option articles,
please follow the law of each country (area).
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems
used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly
advised to install safety devices to forestall serious accidents when it is used in facilities where a
breakdown in the product is likely to cause a serious accident.
(10) General cautions
CAUTION
All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction
manual.
A - 11
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
May., 2005 IB(NA)-0300117-A First edition
Dec., 2011 IB(NA)-0300117-B
[Partial correction]
Safety instructions, Section 4.3.1 Partial change of sentence
Japanese Manual Version IB-0300098
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.
© 2005 MITSUBISHI ELECTRIC CORPORATION
A - 12
INTRODUCTION
Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-Q Series.
Always read through this manual, and fully comprehend the functions and performance of the Q Series PLC
before starting use to ensure correct usage of this product.
CONTENTS
SAFETY INSTRUCTIONS............................................................................................................................A- 1
REVISIONS ...................................................................................................................................................A- 11
INTRODUCTION...........................................................................................................................................A 12
CONTENTS...................................................................................................................................................A- 13
About Manuals ..............................................................................................................................................A- 19
Using This Manual.........................................................................................................................................A- 19
Conformation to the EMC Directive ..............................................................................................................A- 19
Generic Terms and Abbreviations ................................................................................................................A- 20
Component List .............................................................................................................................................A- 20
Section 1 Product Specifications and Handling
1. Product Outline 1- 1 to 1- 28
1.1 Positioning control.................................................................................................................................... 1- 2
1.1.1 Features of QD75MH........................................................................................................................ 1- 2
1.1.2 Purpose and applications of positioning control............................................................................... 1- 5
1.1.3 Mechanism of positioning control ..................................................................................................... 1- 7
1.1.4 Overview of positioning control functions ......................................................................................... 1- 8
1.1.5 Outline design of positioning system ............................................................................................... 1- 18
1.1.6 Communicating signals between QD75MH and each module....................................................... 1- 19
1.2 Flow of system operation........................................................................................................................ 1- 22
1.2.1 Flow of all processes........................................................................................................................ 1- 22
1.2.2 Outline of starting ............................................................................................................................. 1- 24
1.2.3 Outline of stopping ........................................................................................................................... 1- 26
1.2.4 Outline for restarting......................................................................................................................... 1- 28
2. System Configuration 2- 1 to 2- 8
2.1 General image of system ......................................................................................................................... 2- 2
2.2 Component list ......................................................................................................................................... 2- 4
2.3 Applicable system .................................................................................................................................... 2- 6
2.4 How to check the function version and SERIAL No. .............................................................................. 2- 8
3. Specifications and Functions 3- 1 to 3- 24
3.1 Performance specifications...................................................................................................................... 3- 2
3.2 List of functions ....................................................................................................................................... 3- 4
3.2.1 QD75MH control functions................................................................................................................ 3- 4
3.2.2 QD75MH main functions................................................................................................................... 3- 6
A - 13
3.2.3 QD75MH sub functions and common functions .............................................................................. 3- 8
3.2.4 Combination of QD75MH main functions and sub functions.......................................................... 3- 12
3.3 Specifications of input/output signals with PLC CPU ............................................................................ 3- 14
3.3.1 List of input/output signals with PLC CPU....................................................................................... 3- 14
3.3.2 Details of input signals (QD75MH
PLC CPU)............................................................................. 3- 15
3.3.3 Details of output signals (PLC CPU
QD75MH) .......................................................................... 3- 17
3.4 Specifications of interfaces with external devices.................................................................................. 3- 18
3.4.1 Electrical specifications of input signals .......................................................................................... 3- 18
3.4.2 Signal layout for external device connection connector.................................................................. 3- 19
3.4.3 List of input signal details ................................................................................................................. 3- 20
3.4.4 Interface internal circuit .................................................................................................................... 3- 21
3.5 External circuit design ............................................................................................................................. 3- 22
4. Installation, Wiring and Maintenance of the Product 4- 1 to 4- 18
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- 10
4.3.1 Precautions for wiring....................................................................................................................... 4- 10
4.4 Confirming the installation and wiring..................................................................................................... 4- 16
4.4.1 Items to confirm when installation and wiring are completed ......................................................... 4- 16
4.5 Maintenance............................................................................................................................................ 4- 17
4.5.1 Precautions for maintenance ........................................................................................................... 4- 17
4.5.2 Disposal instructions ........................................................................................................................ 4- 17
5. Data Used for Positioning Control (List of buffer memory addresses) 5- 1 to 5-172
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- 6
5.1.3 Setting items for OPR parameters.................................................................................................... 5- 8
5.1.4 Setting items for servo parameters................................................................................................... 5- 9
5.1.5 Setting items for positioning data..................................................................................................... 5- 11
5.1.6 Setting items for block start data ..................................................................................................... 5- 14
5.1.7 Setting items for condition data ....................................................................................................... 5- 15
5.1.8 Types and roles of monitor data ...................................................................................................... 5- 18
5.1.9 Types and roles of control data ....................................................................................................... 5- 20
5.2 List of parameters ................................................................................................................................... 5- 24
5.2.1 Basic parameters 1 .......................................................................................................................... 5- 24
5.2.2 Basic parameters 2 .......................................................................................................................... 5- 28
5.2.3 Detailed parameters 1...................................................................................................................... 5- 30
5.2.4 Detailed parameters 2...................................................................................................................... 5- 38
5.2.5 OPR basic parameters..................................................................................................................... 5- 50
5.2.6 OPR detailed parameters ................................................................................................................ 5- 56
A - 14
5.2.7 Servo parameters (Basic setting) .................................................................................................... 5- 62
5.2.8 Servo parameters (Gain • filter setting)........................................................................................... 5- 68
5.2.9 Servo parameters (Expansion setting) ............................................................................................ 5- 80
5.2.10 Servo parameters (Input/Output setting) ....................................................................................... 5- 86
5.3 List of positioning data ............................................................................................................................ 5- 90
5.4 List of block start data ............................................................................................................................ 5-106
5.5 List of condition data .............................................................................................................................. 5-112
5.6 List of monitor data................................................................................................................................. 5-118
5.6.1 System monitor data ....................................................................................................................... 5-118
5.6.2 Axis monitor data............................................................................................................................. 5-128
5.7 List of control data.................................................................................................................................. 5-148
5.7.1 System control data ........................................................................................................................ 5-148
5.7.2 Axis control data.............................................................................................................................. 5-150
6. Sequence Program Used for Positioning Control 6- 1 to 6- 72
6.1 Precautions for creating program ........................................................................................................... 6- 2
6.2 List of devices used................................................................................................................................. 6- 5
6.3 Creating a program ................................................................................................................................. 6- 15
6.3.1 General configuration of program .................................................................................................... 6- 15
6.3.2 Positioning control operation program............................................................................................. 6- 16
6.4 Positioning program examples ............................................................................................................... 6- 20
6.5 Program details ....................................................................................................................................... 6- 52
6.5.1 Initialization program ........................................................................................................................ 6- 52
6.5.2 Start details setting program ............................................................................................................ 6- 53
6.5.3 Start program.................................................................................................................................... 6- 55
6.5.4 Continuous operation interrupt program.......................................................................................... 6- 64
6.5.5 Restart program ............................................................................................................................... 6- 66
6.5.6 Stop program.................................................................................................................................... 6- 69
7. Memory Configuration and Data Process 7- 1 to 7- 20
7.1 Configuration and roles of QD75MH memory......................................................................................... 7- 2
7.1.1 Configuration and roles of QD75MH memory..................................................................................7- 2
7.1.2 Buffer memory area configuration .................................................................................................... 7- 5
7.2 Data transmission process ...................................................................................................................... 7- 8
A - 15
Section 2 Control Details and Setting
8. OPR Control 8- 1 to 8- 16
8.1 Outline of OPR control ............................................................................................................................. 8- 2
8.1.1 Two types of OPR control ................................................................................................................. 8- 2
8.2 Machine OPR........................................................................................................................................... 8- 5
8.2.1 Outline of the machine OPR operation............................................................................................. 8- 5
8.2.2 Machine OPR method....................................................................................................................... 8- 6
8.2.3 OPR method (1): Near-point dog method ........................................................................................ 8- 7
8.2.4 OPR method (2): Count method 1) .................................................................................................. 8- 9
8.2.5 OPR method (3): Count method 2) ................................................................................................. 8- 11
8.2.6 OPR method (4): Data set method .................................................................................................. 8- 13
8.3 Fast OPR................................................................................................................................................. 8- 14
8.3.1 Outline of the fast OPR operation.................................................................................................... 8- 14
8.4 Selection of OPR set condition .............................................................................................................. 8- 16
8.4.1 Outline of the selection of OPR set condition.................................................................................. 8- 16
9. Major Positioning Control 9- 1 to 9-116
9.1 Outline of major positioning controls ....................................................................................................... 9- 2
9.1.1 Data required for major positioning control ...................................................................................... 9- 4
9.1.2 Operation patterns of major positioning controls ............................................................................. 9- 5
9.1.3 Designating the positioning address................................................................................................ 9- 15
9.1.4 Confirming the current value............................................................................................................ 9- 16
9.1.5 Control unit "degree" handling ......................................................................................................... 9- 18
9.1.6 Interpolation control.......................................................................................................................... 9- 21
9.2 Setting the positioning data ................................................................................................................... 9- 25
9.2.1 Relation between each control and positioning data ...................................................................... 9- 25
9.2.2 1-axis linear control .......................................................................................................................... 9- 27
9.2.3 2-axis linear interpolation control ..................................................................................................... 9- 29
9.2.4 3-axis linear interpolation control ..................................................................................................... 9- 33
9.2.5 4-axis linear interpolation control ..................................................................................................... 9 -39
9.2.6 1-axis fixed-feed control ................................................................................................................... 9- 44
9.2.7 2-axis fixed-feed control (interpolation) ........................................................................................... 9- 46
9.2.8 3-axis fixed-feed control (interpolation) ........................................................................................... 9- 48
9.2.9 4-axis fixed-feed control (interpolation) .......................................................................................... 9- 52
9.2.10 2-axis circular interpolation control with sub point designation .................................................... 9- 54
9.2.11 2-axis circular interpolation control with center point designation ................................................ 9- 60
9.2.12 1-axis speed control ....................................................................................................................... 9- 68
9.2.13 2-axis speed control ....................................................................................................................... 9- 71
9.2.14 3-axis speed control ....................................................................................................................... 9- 74
9.2.15 4-axis speed control ....................................................................................................................... 9- 78
9.2.16 Speed-position switching control (INC mode)............................................................................... 9- 83
9.2.17 Speed-position switching control (ABS mode).............................................................................. 9- 91
9.2.18 Position-speed switching control ................................................................................................... 9- 99
9.2.19 Current value changing................................................................................................................ 9- 106
A - 16
9.2.20 NOP instruction ............................................................................................................................ 9- 111
9.2.21 JUMP instruction .......................................................................................................................... 9- 112
9.2.22 LOOP............................................................................................................................................ 9- 114
9.2.23 LEND ............................................................................................................................................ 9- 115
10. High-Level Positioning Control 10- 1 to 10- 26
10.1 Outline of high-level positioning control .............................................................................................. 10- 2
10.1.1 Data required for high-level positioning control............................................................................ 10- 3
10.1.2 "Block start data" and "condition data" configuration................................................................... 10- 4
10.2 High-level positioning control execution procedure ............................................................................ 10- 6
10.3 Setting the block start data .................................................................................................................. 10- 7
10.3.1 Relation between various controls and block start 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 Repeated start (FOR loop) ......................................................................................................... 10- 13
10.3.7 Repeated start (FOR condition) .................................................................................................. 10- 14
10.3.8 Restrictions when using the NEXT start...................................................................................... 10- 15
10.4 Setting the condition data ................................................................................................................... 10- 16
10.4.1 Relation between various controls and the condition data ......................................................... 10- 16
10.4.2 Condition data setting examples ................................................................................................. 10- 19
10.5 Multiple axes simultaneous start control ............................................................................................ 10- 20
10.6 Start program for high-level positioning control ................................................................................. 10- 23
10.6.1 Starting high-level positioning control.......................................................................................... 10- 23
10.6.2 Example of a start program for high-level positioning control .................................................... 10- 24
11. Manual Control 11- 1 to 11- 36
11.1 Outline of manual control .................................................................................................................... 11- 2
11.1.1 Three 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 Inching operation................................................................................................................................. 11- 17
11.3.1 Outline of inching operation ......................................................................................................... 11- 17
11.3.2 Inching operation execution procedure ....................................................................................... 11- 20
11.3.3 Setting the required parameters for inching operation ............................................................... 11- 21
11.3.4 Creating a program to enable/disable the inching operation...................................................... 11- 22
11.3.5 Inching operation example........................................................................................................... 11- 25
11.4 Manual pulse generator operation...................................................................................................... 11- 27
11.4.1 Outline of manual pulse generator operation.............................................................................. 11- 27
11.4.2 Manual pulse generator operation execution procedure ............................................................ 11- 31
11.4.3 Setting the required parameters for manual pulse generator operation .................................... 11- 32
11.4.4 Creating a program to enable/disable the manual pulse generator operation........................... 11- 33
A - 17
12. Control Sub Functions 12- 1 to 12-106
12.1 Outline of sub functions ....................................................................................................................... 12- 2
12.1.1 Outline of sub functions ................................................................................................................ 12- 2
12.2 Sub functions specifically for machine OPR ....................................................................................... 12- 4
12.2.1 OPR retry function......................................................................................................................... 12- 4
12.2.2 OP 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 function ....................................................................................................................... 12- 20
12.4 Functions to limit the control ............................................................................................................... 12- 23
12.4.1 Speed limit function ...................................................................................................................... 12- 23
12.4.2 Torque limit function..................................................................................................................... 12- 25
12.4.3 Software stroke limit function....................................................................................................... 12- 29
12.4.4 Hardware stroke limit function ..................................................................................................... 12- 35
12.4.5 Forced stop function..................................................................................................................... 12- 39
12.5 Functions to change the control details.............................................................................................. 12- 42
12.5.1 Speed change function ................................................................................................................ 12- 42
12.5.2 Override function .......................................................................................................................... 12- 49
12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 52
12.5.4 Torque change function ............................................................................................................... 12- 56
12.6 Absolute position system .................................................................................................................... 12- 59
12.7 Other functions .................................................................................................................................... 12- 61
12.7.1 Step function................................................................................................................................. 12- 61
12.7.2 Skip function ................................................................................................................................. 12- 66
12.7.3 M code output function................................................................................................................. 12- 69
12.7.4 Teaching function ......................................................................................................................... 12- 73
12.7.5 Target position change function .................................................................................................. 12- 79
12.7.6 Command in-position function ..................................................................................................... 12- 83
12.7.7 Acceleration/deceleration processing function............................................................................ 12- 86
12.7.8 Pre-reading start function............................................................................................................. 12- 89
12.7.9 Deceleration start flag function................................................................................................... 12- 94
12.7.10 Stop command processing for deceleration stop function ..................................................... 12- 98
12.7.11 Speed control 10 x multiplier setting for degree axis function .............................................12- 101
12.7.12 Operation setting for incompletion of OPR function ............................................................. 12- 103
12.8 Servo ON/OFF .................................................................................................................................. 12- 105
12.8.1 Servo ON/OFF ........................................................................................................................... 12- 105
12.8.2 Follow up function ...................................................................................................................... 12- 106
13. Common Functions 13- 1 to 13- 8
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 External signal selection function ........................................................................................................ 13- 7
13.5 External I/O signal logic switching function......................................................................................... 13- 8
A - 18
14. Dedicated Instructions 14- 1 to 14- 18
14.1 List of dedicated instructions ............................................................................................................... 14- 2
14.2 Interlock during dedicated instruction is executed .............................................................................. 14- 2
14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4............................................................................................... 14- 3
14.4 TEACH1, TEACH2, TEACH 3, TEACH 4 ........................................................................................... 14- 7
14.5 PFWRT................................................................................................................................................ 14- 11
14.6 PINIT.................................................................................................................................................... 14- 15
15. Troubleshooting 15- 1 to 15- 60
15.1 Error and warning details ..................................................................................................................... 15- 2
15.2 List of errors ......................................................................................................................................... 15- 6
15.2.1 QD75MH detection error............................................................................................................... 15- 6
15.2.2 MR-J3-B detection error............................................................................................................... 15- 36
15.3 List of warnings ................................................................................................................................... 15- 50
15.3.1 QD75MH detection warning......................................................................................................... 15- 50
15.3.2 MR-J3-B detection warning ......................................................................................................... 15- 56
15.4 LED display functions ......................................................................................................................... 15- 60
Appendices Appendix- 1 to Appendix-72
Appendix 1 Functions........................................................................................................................Appendix- 3
Appendix 1.1 Multiple CPU correspond function..........................................................................Appendix- 3
Appendix 1.2 The combination of software package for QD75MH and QCPU ..........................Appendix- 3
Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses................................. Appendix- 4
Appendix 3 Connection with servo amplifiers .................................................................................Appendix- 28
Appendix 3.1 Connection of SSCNET
cables .........................................................................Appendix- 28
Appendix 3.2 Wiring of SSCNET
cables..................................................................................Appendix- 30
Appendix 4 Connection with external device connector .................................................................Appendix- 34
Appendix 4.1 Connector...............................................................................................................Appendix- 34
Appendix 4.2 Wiring of manual pulse generator cable ...............................................................Appendix- 36
Appendix 5 Comparisons with conventional positioning modules..................................................Appendix- 37
Appendix 5.1 Comparisons with QD75P model ..........................................................................Appendix- 37
Appendix 5.2 Comparisons with QD75M1/ QD75M2/ QD75M4 models ...................................Appendix- 38
Appendix 6 Positioning control troubleshooting ..............................................................................Appendix- 51
Appendix 7 List of buffer memory addresses..................................................................................Appendix- 57
Appendix 8 External dimension drawing .........................................................................................Appendix- 71
INDEX Index- 1 to Index - 10
INDEX..................................................................................................................................................... Index - 1
A - 19
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)
GX Configurator-QP Operating Manual
Describes how to use GX Configurator-QP for the following and other purposes: creating data
(parameters, positioning data, etc.), sending the data to the module, monitoring the positioning
operations, and testing.
(The manual is supplied with the software.)
SH-080172
(13JU19)
Using This Manual
The symbols used in this manual are shown below.
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.
(A serial No. is inserted in the
mark.)
Conformation to the EMC Directive
The CE logo is printed on the rating plate on the main body of the PLC that
conforms to the EMC directive instruction.
To make this product conform to the EMC directive instruction, please refer to
section 4.3.1 "Precautions for wiring" of the chapter 4 "Installation, Wiring and
Maintenance of the Product" and the EMC Installation Guidelines (IB(NA)67339).
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" or "h" are represented in hexadecimal.
(Example) 10.........Decimal
10H ......Hexadecimal
  • Page 1 1
  • Page 2 2
  • Page 3 3
  • Page 4 4
  • Page 5 5
  • Page 6 6
  • Page 7 7
  • Page 8 8
  • Page 9 9
  • Page 10 10
  • Page 11 11
  • Page 12 12
  • Page 13 13
  • Page 14 14
  • Page 15 15
  • Page 16 16
  • Page 17 17
  • Page 18 18
  • Page 19 19
  • Page 20 20
  • Page 21 21
  • Page 22 22
  • Page 23 23
  • Page 24 24
  • Page 25 25
  • Page 26 26
  • Page 27 27
  • Page 28 28
  • Page 29 29
  • Page 30 30
  • Page 31 31
  • Page 32 32
  • Page 33 33
  • Page 34 34
  • Page 35 35
  • Page 36 36
  • Page 37 37
  • Page 38 38
  • Page 39 39
  • Page 40 40
  • Page 41 41
  • Page 42 42
  • Page 43 43
  • Page 44 44
  • Page 45 45
  • Page 46 46
  • Page 47 47
  • Page 48 48
  • Page 49 49
  • Page 50 50
  • Page 51 51
  • Page 52 52
  • Page 53 53
  • Page 54 54
  • Page 55 55
  • Page 56 56
  • Page 57 57
  • Page 58 58
  • Page 59 59
  • Page 60 60
  • Page 61 61
  • Page 62 62
  • Page 63 63
  • Page 64 64
  • Page 65 65
  • Page 66 66
  • Page 67 67
  • Page 68 68
  • Page 69 69
  • Page 70 70
  • Page 71 71
  • Page 72 72
  • Page 73 73
  • Page 74 74
  • Page 75 75
  • Page 76 76
  • Page 77 77
  • Page 78 78
  • Page 79 79
  • Page 80 80
  • Page 81 81
  • Page 82 82
  • Page 83 83
  • Page 84 84
  • Page 85 85
  • Page 86 86
  • Page 87 87
  • Page 88 88
  • Page 89 89
  • Page 90 90
  • Page 91 91
  • Page 92 92
  • Page 93 93
  • Page 94 94
  • Page 95 95
  • Page 96 96
  • Page 97 97
  • Page 98 98
  • Page 99 99
  • Page 100 100
  • Page 101 101
  • Page 102 102
  • Page 103 103
  • Page 104 104
  • Page 105 105
  • Page 106 106
  • Page 107 107
  • Page 108 108
  • Page 109 109
  • Page 110 110
  • Page 111 111
  • Page 112 112
  • Page 113 113
  • Page 114 114
  • Page 115 115
  • Page 116 116
  • Page 117 117
  • Page 118 118
  • Page 119 119
  • Page 120 120
  • Page 121 121
  • Page 122 122
  • Page 123 123
  • Page 124 124
  • Page 125 125
  • Page 126 126
  • Page 127 127
  • Page 128 128
  • Page 129 129
  • Page 130 130
  • Page 131 131
  • Page 132 132
  • Page 133 133
  • Page 134 134
  • Page 135 135
  • Page 136 136
  • Page 137 137
  • Page 138 138
  • Page 139 139
  • Page 140 140
  • Page 141 141
  • Page 142 142
  • Page 143 143
  • Page 144 144
  • Page 145 145
  • Page 146 146
  • Page 147 147
  • Page 148 148
  • Page 149 149
  • Page 150 150
  • Page 151 151
  • Page 152 152
  • Page 153 153
  • Page 154 154
  • Page 155 155
  • Page 156 156
  • Page 157 157
  • Page 158 158
  • Page 159 159
  • Page 160 160
  • Page 161 161
  • Page 162 162
  • Page 163 163
  • Page 164 164
  • Page 165 165
  • Page 166 166
  • Page 167 167
  • Page 168 168
  • Page 169 169
  • Page 170 170
  • Page 171 171
  • Page 172 172
  • Page 173 173
  • Page 174 174
  • Page 175 175
  • Page 176 176
  • Page 177 177
  • Page 178 178
  • Page 179 179
  • Page 180 180
  • Page 181 181
  • Page 182 182
  • Page 183 183
  • Page 184 184
  • Page 185 185
  • Page 186 186
  • Page 187 187
  • Page 188 188
  • Page 189 189
  • Page 190 190
  • Page 191 191
  • Page 192 192
  • Page 193 193
  • Page 194 194
  • Page 195 195
  • Page 196 196
  • Page 197 197
  • Page 198 198
  • Page 199 199
  • Page 200 200
  • Page 201 201
  • Page 202 202
  • Page 203 203
  • Page 204 204
  • Page 205 205
  • Page 206 206
  • Page 207 207
  • Page 208 208
  • Page 209 209
  • Page 210 210
  • Page 211 211
  • Page 212 212
  • Page 213 213
  • Page 214 214
  • Page 215 215
  • Page 216 216
  • Page 217 217
  • Page 218 218
  • Page 219 219
  • Page 220 220
  • Page 221 221
  • Page 222 222
  • Page 223 223
  • Page 224 224
  • Page 225 225
  • Page 226 226
  • Page 227 227
  • Page 228 228
  • Page 229 229
  • Page 230 230
  • Page 231 231
  • Page 232 232
  • Page 233 233
  • Page 234 234
  • Page 235 235
  • Page 236 236
  • Page 237 237
  • Page 238 238
  • Page 239 239
  • Page 240 240
  • Page 241 241
  • Page 242 242
  • Page 243 243
  • Page 244 244
  • Page 245 245
  • Page 246 246
  • Page 247 247
  • Page 248 248
  • Page 249 249
  • Page 250 250
  • Page 251 251
  • Page 252 252
  • Page 253 253
  • Page 254 254
  • Page 255 255
  • Page 256 256
  • Page 257 257
  • Page 258 258
  • Page 259 259
  • Page 260 260
  • Page 261 261
  • Page 262 262
  • Page 263 263
  • Page 264 264
  • Page 265 265
  • Page 266 266
  • Page 267 267
  • Page 268 268
  • Page 269 269
  • Page 270 270
  • Page 271 271
  • Page 272 272
  • Page 273 273
  • Page 274 274
  • Page 275 275
  • Page 276 276
  • Page 277 277
  • Page 278 278
  • Page 279 279
  • Page 280 280
  • Page 281 281
  • Page 282 282
  • Page 283 283
  • Page 284 284
  • Page 285 285
  • Page 286 286
  • Page 287 287
  • Page 288 288
  • Page 289 289
  • Page 290 290
  • Page 291 291
  • Page 292 292
  • Page 293 293
  • Page 294 294
  • Page 295 295
  • Page 296 296
  • Page 297 297
  • Page 298 298
  • Page 299 299
  • Page 300 300
  • Page 301 301
  • Page 302 302
  • Page 303 303
  • Page 304 304
  • Page 305 305
  • Page 306 306
  • Page 307 307
  • Page 308 308
  • Page 309 309
  • Page 310 310
  • Page 311 311
  • Page 312 312
  • Page 313 313
  • Page 314 314
  • Page 315 315
  • Page 316 316
  • Page 317 317
  • Page 318 318
  • Page 319 319
  • Page 320 320
  • Page 321 321
  • Page 322 322
  • Page 323 323
  • Page 324 324
  • Page 325 325
  • Page 326 326
  • Page 327 327
  • Page 328 328
  • Page 329 329
  • Page 330 330
  • Page 331 331
  • Page 332 332
  • Page 333 333
  • Page 334 334
  • Page 335 335
  • Page 336 336
  • Page 337 337
  • Page 338 338
  • Page 339 339
  • Page 340 340
  • Page 341 341
  • Page 342 342
  • Page 343 343
  • Page 344 344
  • Page 345 345
  • Page 346 346
  • Page 347 347
  • Page 348 348
  • Page 349 349
  • Page 350 350
  • Page 351 351
  • Page 352 352
  • Page 353 353
  • Page 354 354
  • Page 355 355
  • Page 356 356
  • Page 357 357
  • Page 358 358
  • Page 359 359
  • Page 360 360
  • Page 361 361
  • Page 362 362
  • Page 363 363
  • Page 364 364
  • Page 365 365
  • Page 366 366
  • Page 367 367
  • Page 368 368
  • Page 369 369
  • Page 370 370
  • Page 371 371
  • Page 372 372
  • Page 373 373
  • Page 374 374
  • Page 375 375
  • Page 376 376
  • Page 377 377
  • Page 378 378
  • Page 379 379
  • Page 380 380
  • Page 381 381
  • Page 382 382
  • Page 383 383
  • Page 384 384
  • Page 385 385
  • Page 386 386
  • Page 387 387
  • Page 388 388
  • Page 389 389
  • Page 390 390
  • Page 391 391
  • Page 392 392
  • Page 393 393
  • Page 394 394
  • Page 395 395
  • Page 396 396
  • Page 397 397
  • Page 398 398
  • Page 399 399
  • Page 400 400
  • Page 401 401
  • Page 402 402
  • Page 403 403
  • Page 404 404
  • Page 405 405
  • Page 406 406
  • Page 407 407
  • Page 408 408
  • Page 409 409
  • Page 410 410
  • Page 411 411
  • Page 412 412
  • Page 413 413
  • Page 414 414
  • Page 415 415
  • Page 416 416
  • Page 417 417
  • Page 418 418
  • Page 419 419
  • Page 420 420
  • Page 421 421
  • Page 422 422
  • Page 423 423
  • Page 424 424
  • Page 425 425
  • Page 426 426
  • Page 427 427
  • Page 428 428
  • Page 429 429
  • Page 430 430
  • Page 431 431
  • Page 432 432
  • Page 433 433
  • Page 434 434
  • Page 435 435
  • Page 436 436
  • Page 437 437
  • Page 438 438
  • Page 439 439
  • Page 440 440
  • Page 441 441
  • Page 442 442
  • Page 443 443
  • Page 444 444
  • Page 445 445
  • Page 446 446
  • Page 447 447
  • Page 448 448
  • Page 449 449
  • Page 450 450
  • Page 451 451
  • Page 452 452
  • Page 453 453
  • Page 454 454
  • Page 455 455
  • Page 456 456
  • Page 457 457
  • Page 458 458
  • Page 459 459
  • Page 460 460
  • Page 461 461
  • Page 462 462
  • Page 463 463
  • Page 464 464
  • Page 465 465
  • Page 466 466
  • Page 467 467
  • Page 468 468
  • Page 469 469
  • Page 470 470
  • Page 471 471
  • Page 472 472
  • Page 473 473
  • Page 474 474
  • Page 475 475
  • Page 476 476
  • Page 477 477
  • Page 478 478
  • Page 479 479
  • Page 480 480
  • Page 481 481
  • Page 482 482
  • Page 483 483
  • Page 484 484
  • Page 485 485
  • Page 486 486
  • Page 487 487
  • Page 488 488
  • Page 489 489
  • Page 490 490
  • Page 491 491
  • Page 492 492
  • Page 493 493
  • Page 494 494
  • Page 495 495
  • Page 496 496
  • Page 497 497
  • Page 498 498
  • Page 499 499
  • Page 500 500
  • Page 501 501
  • Page 502 502
  • Page 503 503
  • Page 504 504
  • Page 505 505
  • Page 506 506
  • Page 507 507
  • Page 508 508
  • Page 509 509
  • Page 510 510
  • Page 511 511
  • Page 512 512
  • Page 513 513
  • Page 514 514
  • Page 515 515
  • Page 516 516
  • Page 517 517
  • Page 518 518
  • Page 519 519
  • Page 520 520
  • Page 521 521
  • Page 522 522
  • Page 523 523
  • Page 524 524
  • Page 525 525
  • Page 526 526
  • Page 527 527
  • Page 528 528
  • Page 529 529
  • Page 530 530
  • Page 531 531
  • Page 532 532
  • Page 533 533
  • Page 534 534
  • Page 535 535
  • Page 536 536
  • Page 537 537
  • Page 538 538
  • Page 539 539
  • Page 540 540
  • Page 541 541
  • Page 542 542
  • Page 543 543
  • Page 544 544
  • Page 545 545
  • Page 546 546
  • Page 547 547
  • Page 548 548
  • Page 549 549
  • Page 550 550
  • Page 551 551
  • Page 552 552
  • Page 553 553
  • Page 554 554
  • Page 555 555
  • Page 556 556
  • Page 557 557
  • Page 558 558
  • Page 559 559
  • Page 560 560
  • Page 561 561
  • Page 562 562
  • Page 563 563
  • Page 564 564
  • Page 565 565
  • Page 566 566
  • Page 567 567
  • Page 568 568
  • Page 569 569
  • Page 570 570
  • Page 571 571
  • Page 572 572
  • Page 573 573
  • Page 574 574
  • Page 575 575
  • Page 576 576
  • Page 577 577
  • Page 578 578
  • Page 579 579
  • Page 580 580
  • Page 581 581
  • Page 582 582
  • Page 583 583
  • Page 584 584
  • Page 585 585
  • Page 586 586
  • Page 587 587
  • Page 588 588
  • Page 589 589
  • Page 590 590
  • Page 591 591
  • Page 592 592
  • Page 593 593
  • Page 594 594
  • Page 595 595
  • Page 596 596
  • Page 597 597
  • Page 598 598
  • Page 599 599
  • Page 600 600
  • Page 601 601
  • Page 602 602
  • Page 603 603
  • Page 604 604
  • Page 605 605
  • Page 606 606
  • Page 607 607
  • Page 608 608
  • Page 609 609
  • Page 610 610
  • Page 611 611
  • Page 612 612
  • Page 613 613
  • Page 614 614
  • Page 615 615
  • Page 616 616
  • Page 617 617
  • Page 618 618
  • Page 619 619
  • Page 620 620
  • Page 621 621
  • Page 622 622
  • Page 623 623
  • Page 624 624
  • Page 625 625
  • Page 626 626
  • Page 627 627
  • Page 628 628
  • Page 629 629
  • Page 630 630
  • Page 631 631
  • Page 632 632
  • Page 633 633
  • Page 634 634
  • Page 635 635
  • Page 636 636
  • Page 637 637
  • Page 638 638
  • Page 639 639
  • Page 640 640
  • Page 641 641
  • Page 642 642
  • Page 643 643
  • Page 644 644
  • Page 645 645
  • Page 646 646
  • Page 647 647
  • Page 648 648
  • Page 649 649
  • Page 650 650
  • Page 651 651
  • Page 652 652
  • Page 653 653
  • Page 654 654
  • Page 655 655
  • Page 656 656
  • Page 657 657
  • Page 658 658
  • Page 659 659
  • Page 660 660
  • Page 661 661
  • Page 662 662
  • Page 663 663
  • Page 664 664
  • Page 665 665
  • Page 666 666
  • Page 667 667
  • Page 668 668
  • Page 669 669
  • Page 670 670
  • Page 671 671
  • Page 672 672
  • Page 673 673
  • Page 674 674
  • Page 675 675
  • Page 676 676
  • Page 677 677
  • Page 678 678
  • Page 679 679
  • Page 680 680
  • Page 681 681
  • Page 682 682
  • Page 683 683
  • Page 684 684
  • Page 685 685
  • Page 686 686
  • Page 687 687
  • Page 688 688
  • Page 689 689
  • Page 690 690
  • Page 691 691
  • Page 692 692
  • Page 693 693
  • Page 694 694
  • Page 695 695
  • Page 696 696
  • Page 697 697
  • Page 698 698
  • Page 699 699
  • Page 700 700
  • Page 701 701
  • Page 702 702
  • Page 703 703
  • Page 704 704
  • Page 705 705
  • Page 706 706
  • Page 707 707
  • Page 708 708
  • Page 709 709
  • Page 710 710
  • Page 711 711
  • Page 712 712
  • Page 713 713
  • Page 714 714
  • Page 715 715
  • Page 716 716
  • Page 717 717
  • Page 718 718
  • Page 719 719
  • Page 720 720
  • Page 721 721
  • Page 722 722
  • Page 723 723
  • Page 724 724
  • Page 725 725
  • Page 726 726
  • Page 727 727
  • Page 728 728
  • Page 729 729
  • Page 730 730
  • Page 731 731
  • Page 732 732
  • Page 733 733
  • Page 734 734
  • Page 735 735
  • Page 736 736
  • Page 737 737
  • Page 738 738
  • Page 739 739
  • Page 740 740
  • Page 741 741
  • Page 742 742
  • Page 743 743
  • Page 744 744
  • Page 745 745
  • Page 746 746
  • Page 747 747
  • Page 748 748
  • Page 749 749
  • Page 750 750
  • Page 751 751
  • Page 752 752
  • Page 753 753
  • Page 754 754
  • Page 755 755
  • Page 756 756
  • Page 757 757
  • Page 758 758
  • Page 759 759
  • Page 760 760
  • Page 761 761
  • Page 762 762
  • Page 763 763
  • Page 764 764
  • Page 765 765
  • Page 766 766
  • Page 767 767
  • Page 768 768
  • Page 769 769
  • Page 770 770
  • Page 771 771
  • Page 772 772
  • Page 773 773
  • Page 774 774
  • Page 775 775
  • Page 776 776
  • Page 777 777
  • Page 778 778
  • Page 779 779
  • Page 780 780
  • Page 781 781
  • Page 782 782
  • Page 783 783
  • Page 784 784
  • Page 785 785
  • Page 786 786
  • Page 787 787
  • Page 788 788
  • Page 789 789
  • Page 790 790
  • Page 791 791
  • Page 792 792
  • Page 793 793
  • Page 794 794
  • Page 795 795
  • Page 796 796
  • Page 797 797
  • Page 798 798
  • Page 799 799
  • Page 800 800
  • Page 801 801
  • Page 802 802
  • Page 803 803
  • Page 804 804
  • Page 805 805
  • Page 806 806
  • Page 807 807
  • Page 808 808
  • Page 809 809
  • Page 810 810
  • Page 811 811
  • Page 812 812
  • Page 813 813
  • Page 814 814
  • Page 815 815
  • Page 816 816
  • Page 817 817
  • Page 818 818
  • Page 819 819
  • Page 820 820
  • Page 821 821
  • Page 822 822
  • Page 823 823
  • Page 824 824
  • Page 825 825
  • Page 826 826
  • Page 827 827
  • Page 828 828
  • Page 829 829
  • Page 830 830
  • Page 831 831
  • Page 832 832
  • Page 833 833
  • Page 834 834
  • Page 835 835
  • Page 836 836
  • Page 837 837
  • Page 838 838

Mitsubishi Electronics Drums QD75MH1 User manual

Type
User manual
This manual is also suitable for

Ask a question and I''ll find the answer in the document

Finding information in a document is now easier with AI