Servo Off Command Valid Function During Speed-Torque Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Servo OFF command valid function during speed-torque control

"Servo OFF command valid function" enables acceptance of "[Cd.100] Servo OFF command" and All axis servo ON [Y1]
during the speed control mode, torque control mode, and continuous operation to torque control mode.
This function enables the servo OFF without braking the servo amplifier by a dynamic brake.
By selecting "[Pr.112] Servo OFF command valid/invalid setting", whether to enable or disable "[Cd.100] Servo OFF
command" and All axis servo ON [Y1] during the speed control mode, torque control mode, and continuous operation to
torque control mode can be selected. When "1: Servo OFF command valid during speed-torque control" is selected for
"[Pr.112] Servo OFF command valid/invalid setting", the servo OFF command becomes valid, and when "0: Servo OFF
command invalid" is selected for "[Pr.112] Servo OFF command valid/invalid setting", the servo OFF command becomes
invalid. The setting value of "[Pr.112] Servo OFF command valid/invalid setting" becomes valid when the control mode is
switched.
When the servo OFF command is valid and "1: Servo OFF" is set in "[Cd.100] Servo OFF command" or All axis servo ON [Y1]
is set to OFF, the servo OFF of the target axis is performed. The control mode when the servo OFF command is executed is
used during the servo OFF.
Precautions
For safe use, when using this function, execute "[Cd.100] Servo OFF command" when the servo amplifier is not braked by the
dynamic brake and there is no problem even if the servo OFF is performed.
Related buffer memory
■Detailed parameters 2
n: Axis No. - 1
Setting item
[Pr.112] Servo OFF command valid/invalid
*1
setting
*1 This parameter is saved in the flash ROM by "[Cd.1] Flash ROM write request" or writing to the flash ROM with an engineering tool.
*2 When a bit other than bit0 is turned ON, it operates with the setting of "0: Servo OFF command invalid".
■Axis control data
n: Axis No. - 1
Setting item
[Y1] All axis servo ON
[Cd.100] Servo OFF command
Stop cause
When "1: Servo OFF command valid during speed-torque control" is selected for "[Pr.112] Servo OFF command valid/invalid
setting", the operations at stop cause occurrence are shown below.
■Stop cause during speed control mode
Item
"[Cd.180] Axis stop" turned ON.
Stop signal of "[Cd.44] External input signal operation
device" turned ON.
All axis servo ON [Y1] turned OFF.
7 EXPANSION CONTROL
216
7.1 Speed-torque Control
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Setting value
bit0
bit1 or later
Setting details
0: Servo OFF
1: Servo ON
0: Servo ON
1: Servo OFF
search engine
0: Servo OFF command invalid
1: Servo OFF command valid during speed-torque control
*2
Use prohibited
Operation during speed control mode
The motor decelerates to speed "0" according to the setting value of "[Cd.142] Deceleration time
at speed control mode". The mode switches to the position control mode when "Zero speed" of
"[Md.119] Servo status2" turns ON, and the operation stops.
While the servo amplifier is servo OFF, even if "[Cd.180] Axis stop" is turned ON, the stop signal is
not accepted.
The servo OFF is executed and the speed control mode continues. At the stop due to servo OFF,
it is braked by the dynamic brake. After the servo ON, the speed control mode can be continued.
Buffer memory address
Axis 1 to axis 16
112+150n
Buffer memory address
Axis 1 to axis 16

4351+100n