Mitsubishi Electric QD77MS User Manual page 1016

[3] Precautions during control
(1) Absolute position system (ABS)/Incremental system (INC)
At the ABS/INC setting, operation will be carried out by the setting of VCII
series/VPH series.
(2) Unlimited length feed
When using the virtual encoder pulse number function of VCII series/VPH
series, the unlimited length feed is available. When this function is not
used, the servo alarm 61468 (F01CH) "Absolute encoder over flow error"
occurs after "Encoder multiple revolution counter × Encoder resolution +
Encoder position within one revolution" exceeds the range of -2147483648
to 2147483647, and the operation stops.
(3) OPR
When "1" is set in the first digit of the parameter of VCII series "Select
function for SSCNET
the home position return (OPR) without passing the zero point. (Return to
origin after power is supplied will be executed when passing of Motor Z
phase is not necessary.) When "0" is set, the error "OPR zero point not
passed" (error code: 210) occurs because the OPR is executed without
passing the motor Z phase (Motor reference position signal).
When "Zero return operation allowed." is set in the parameter of VPH
series "Marker transit selection", it is possible to carry out the OPR without
passing the Motor Z phase after power is supplied. When "Zero return
operation allowed after the marker is passed." is set, the error "OPR zero
point not passed" (error code: 210) occurs because the OPR is executed
without passing the motor Z phase.
(4) Control mode
Control modes that can be used are shown below.
• Position control mode (speed control including position control and position
loop)
• Speed control mode (speed control not including position loop)
• Torque control mode (torque control)
However, it is not available to switch to continuous operation to torque
control mode of expansion control "Speed-torque control". If the mode is
switched to continuous operation to torque control mode, the error
"Continuous operation to torque control not supported" (error code: 550)
occurs and the operation stops.
"1: Feedback torque" cannot be set in "Torque initial value selection (b4 to
b7)" of "[Pr.90] Operation setting for speed-torque control mode". If it is set,
the warning "Torque initial value selection invalid" (warning code: 521)
occurs and the command value immediately after switching is the same as
the case of selecting "0: Command torque".
on communicate mode", it is possible to carry out
Appendix - 70
Appendices