Mitsubishi Electric Q Series Programming Manual page 243
Motion controller
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Also See for Q Series:
- Programming manual (524 pages) ,
- Reference manual (444 pages) ,
- User manual (276 pages)
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10 AUXILIARY AND APPLIED FUNCTIONS
Items
Servo program
start
Stop
JOG operation
Current value
change
Speed change
Torque limit
value change
(b) Control methods
Control method
• Use a Motion SFC program start or
D(P).SVST instruction
• Set a real mode axis No. as axis No..
• Turn the stop command
(M3200+20n) or rapid stop command
(M3201+20n) ON in real mode.
• Turn the external signal (STOP) ON.
• Use the deceleration stop or all axes
rapid stop (Test mode ON) from
MT Developer.
• Change speed to "0".
Use the forward rotation JOG start
command (M3202+20n) or reverse
rotation JOG start command
(M3203+20n).
(Note)
• Use D(P).CHGA Jn
instruction.
• Set a real mode axis No. as axis No..
• Use D(P).CHGV, CHGV instruction.
• Set a real mode axis No. as axis No..
• Use D(P).CHGT, CHGT instruction.
• Set a real mode axis No. as axis No..
(c) Error codes in real mode axis
Error codes at positioning control in the mixed function of virtual mode with
real mode are shown below.
1) Minor error (1 to 999)
2) Major error (1000 to 1299)
Minor error (4000 to 9990)/major error (10000 to 12990) code of output
module in virtual mode are not set in minor/major error code storage register
(D6+20n/D7+20n).
• When the ZERO, OSC, CHGA-C or CHGA-E
instruction is executed to real mode axis, "Servo
program setting error" (error code: 905) occurs.
• When the real mode axis is set to the virtual servo
program and it starts, "Servo program setting
error" (error code: 906) occurs.
• When the real mode axis and virtual axis are set
together to the interpolation axis if it starts, "Servo
program setting error" (error code: 906) occurs.
Refer to the "Q173DCPU/Q172DCPU Motion
controller (SV13/SV22) Programming Manual
(REAL MODE)" for details of stop processing.
Control with parameter JOG operation data.
• When the D(P).CHGA Cn
, CHGA
instruction is executed, the instruction is ignored.
• When the CHGA-C or CHGA-E instruction is
executed to real mode axis, "Servo program
setting error" (error code: 905) occurs.
Torque limit value of real mode axis at switching
from real mode to virtual mode continues the state
in real mode.
(Note) : "n" shows the numerical value correspond to axis No..
10 - 4
Remarks
(Note)
(Note)
or CHGA En
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