Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 31

If "1: Command position value" or "2: Actual position value" is set in "[Pr.300] Servo input axis type", set "1:
Update command position value" in "[Pr.21] Command position value during speed control" to start the speed
position change control. If "0: Do not update command position value" or "2: Clear command position value to
zero" is set in "[Pr.21] Command position value during speed control", "Speed-position switching control start
in servo input axis not possible" (error code: 1DF7H) will occur and the control will not start.
Units for the servo input axis
The position units and speed units for the servo input axis are shown below for the setting "[Pr.300] Servo input axis type" and
"[Pr.1] Unit setting".
■Servo input axis position units
Setting value of "[Pr.300]
Servo input axis type"
1: Command position value
2: Actual position value
3: Servo command value
4: Feedback value
■Servo input axis speed units
Setting value of "[Pr.300]
Servo input axis type"
1: Command position value
2: Actual position value
3: Servo command value
4: Feedback value
*1 This will be the speed unit " 10
multiplier setting for degree axis" is valid.
When "1: Command position value" or "3: Servo command value" is set in "[Pr.300] Servo input axis type",
and the servo input axis becomes servo OFF by the servo alarm or forced stop, the amount of value change
may be large. This can be prevented by setting "2: Actual position value" or "4: Feedback value" in "[Pr.300]
Servo input axis type".
Setting value of "[Pr.1] Unit
setting"
0: mm
1: inch
2: degree
3: pulse

Setting value of "[Pr.1] Unit
setting"
0: mm
1: inch
2: degree
3: pulse

-2
degree/min" (Range: -21474836.48 to 21474836.47[degree/min]), when "[Pr.83] Speed control 10 
Servo input axis position
unit
-4
10 mm
-1
(10 m)
-5
inch
10
-5
10 degree
pulse
pulse
Servo input axis speed unit
-2
10 mm/min
-3
inch/min
10
-3 *1
degree/min
10
pulse/s
pulse/s
Range
-214748.3648 to 214748.3647[mm]
(-214748364.8 to 214748364.7[m])
-21474.83648 to 21474.83647[inch]
-21474.83648 to 21474.83647[degree]
-2147483648 to 2147483647[pulse]
-2147483648 to 2147483647[pulse]
Range
-21474836.48 to 21474836.47[mm/min]
-2147483.648 to 2147483.647[inch/min]
-2147483.648 to 2147483.647[degree/min]
-2147483648 to 2147483647[pulse/s]
-2147483648 to 2147483647[pulse/s]
2 INPUT AXIS MODULE
2.1 Servo Input Axis
2
*1
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