Motion System Function/Command And Slave Object - Mitsubishi Electric MELSEC iQ-R Series User Manual

Motion system function/command and slave object

If no slave object is registered in the axis of the motion system, there will be errors and restrictions in some functions/
commands. Set the required objects as the following.
For a real axis, registered slave objects can be checked with the member variable of AxisName.Md.Io_Object.
For a virtual axis, registered slave objects are fixed by each axis type.
For details of each slave object, refer to the following.
Page 46 Slave object list
: PDO mapping is required, : PDO mapping is recommended, : PDO mapping is not required
Function/command
MC_MoveVelocity
MC_TorqueControl
Torque limit function
MC_Home
1 AXIS SETTING
50
1.4 Axis Assignment
Required slave object
TargetVelocity
TargetTorque
PositiveTorqueLimitValue
NegativeTorqueLimitValue
HomeOffset
PDO mapping (only real drive
axis)




Operation with no object
Necessary Slave Object Unset Errar
Necessary Slave Object Unset Errar
The command is ignored.
Operates with data set method.