Mitsubishi Electric QD77MS User Manual page 936

Classification Warning
Warning name
of warnings code
Optional data monitor
116
data type setting error
Control mode switching
120
during BUSY
Control mode switching
121
during zero speed OFF
Outside control mode
122
range
Common
123 Control mode switching
warnings
Illegal control mode
124
switching
Control mode switching
125
not possible
Warning
In the optional data monitor, 2-word data is
not set correctly.
Control mode switching was executed
from the position control mode to the
speed control mode/torque control mode
while BUSY was turned ON.
Control mode was changed when "Zero
speed" ([Md.108] Servo status) was turned
OFF.
Control mode switching request was
performed by specifying a value outside
the range for "[Cd.139] Control mode
setting".
Control mode switching request was
performed during the control mode
switching.
• Switching to the speed-torque control
mode is requested to the axis which
does not support the control mode
switching.
• Switching to the continuous operation to
torque control mode is requested to the
axis which does not support the control
mode switching.
• Control mode switching was performed
from the position control mode to the
continuous operation to torque control
mode and then from the continuous
operation to torque control mode to the
speed control mode.
• Control mode switching was performed
from the speed control mode to the
continuous operation to torque control
mode and then from the continuous
operation to torque control mode to the
position control mode.
• Control mode switching was performed
between the torque control mode and
continuous operation to torque control
mode.
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Chapter 16 Troubleshooting
Operation status at warning occurrence
Monitoring is not carried out. "0" is stored in
[Md.109] to [Md.112] (Optional data
monitor output 1 to 4).
The control mode is not switched.
(Positioning during operation continues.)
The control mode is not switched.
(Current operation continues.)
Control mode switching request is not
accepted.
The control mode is not switched.
(Current operation continues.)