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Mitsubishi Electric RD77MS2 User Manual Page 27

Melsec iq-r simple motion module.
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If "1: Feed current value" or "2: Real current value" is set in "[Pr.300] Servo input axis type", set "1: Update
feed current value" in "[Pr.21] Feed current value during speed control" to start the speed position change
control. If "0: Do not update feed current value" or "2: Clear feed current value to zero" is set in [Pr.21], the
error "Speed-position switching control start in servo input axis not possible" (error code: 1BA7H) 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: Feed current value
2: Real current value
3: Servo command value
4: Feedback value
■Servo input axis speed units
Setting value of "[Pr.300]
Servo input axis type"
1: Feed current value
2: Real current value
3: Servo command value
4: Feedback value
*1 When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid, this will be the speed unit "  10
(Range: - 21474836.48 to 21474836.47 [degree/min]).
• When "1: Feed current 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 error or forced stop, the amount of value change may be
large. This can be prevented by setting "2: Real current value" or "4: Feedback value" in "[Pr.300] Servo
input axis type".
• When a home position return for the axis where "1: Feed current value" or "2: Real current value" is set in
"[Pr.300] Servo input axis type" is performed, if the servo input axis operation during home position return is
used as the input value, the input is stopped in the midway of home position return. When the servo input
axis operation during home position return is used as the input value, set "3: Servo command 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
Servo input axis position
unit
 10
-4
mm
m)
-1
(10
 10
-5
inch
 10
-5
degree
pulse
pulse
Servo input axis speed unit
 10
-2
mm/min
 10
-3
inch/min
 10
-3
*1
degree/min
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
degree/min"
2 INPUT AXIS MODULE
2.1 Servo Input Axis
2
*1
25

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