Amplifier-Less Operation Function - Mitsubishi Electric RD77MS2 User Manual

9.6

Amplifier-less Operation Function

The positioning control of Simple Motion module without servo amplifiers connection can be executed in the amplifier-less
function. This function is used to debug of user program or simulate of positioning operation at the start.
Control details
Switch the mode from the normal operation mode (with servo amplifier connection) to the amplifier-less operation mode
(without servo amplifier connection) to use the amplifier-less operation function.
Operation for each axis without servo amplifier connection as the normal operation mode can be executed during amplifier-
less operation mode. The start method of positioning control is also the same procedure of normal operation mode.
The normal operation (with servo amplifier connection) is possible by switching from the amplifier-less operation mode to the
normal operation mode after amplifier-less operation.
The current value management (current feed value, machine feed value) at the switching the normal operation mode and
amplifier-less operation mode is shown below.
"Absolute position Current value management at the operation mode switching
detection system
Normal operation mode  Amplifier-
(PA03)"
less operation mode
"0: Disabled" The current feed value and machine feed value
are "0".
"1: Enabled" The amplifier-less operation mode starts with the
address that the servo amplifier's power supply
was finally turned OFF.
However, the home position is not established in
the normal operation mode, the current feed
value and machine feed value are "0".
■Point for control details
• Switch of the normal operation mode and amplifier-less operation mode is executed by the batch of all axes. Switch of the
operation mode for each axis cannot be executed.
• Only axis that operated either the followings before switching to the amplifier-less operation mode becomes the connection
status during amplifier-less operation.
• "[Pr.100] Connected device" is set, and then the written to flash ROM is executed. (Turn the power supply ON or reset the CPU module after written to flash
ROM.)
• "[Pr.100] Connected device" is set, and then the PLC ready signal is turned ON.) (Servo amplifier connection is unnecessary.)
• Suppose the following servo amplifier and servo motor are connected during amplifier-less operation mode.
[Pr.97] SSCNET setting Servo amplifier type
1: SSCNET/H MR-J4-10B
0: SSCNET MR-J3-10B
Amplifier-less operation mode  Normal operation mode
The current feed value and machine feed value are "0". (At the
communication start to the servo amplifiers)
The current feed value and machine feed value are restored according the
actual position of servomotor. (At the communication start to the servo
amplifiers)
However, when the home position is not established in the normal operation
mode before switching to the amplifier-less operation mode, the current
feed value and machine feed value are not restored. Execute the home
position return.
When the mode is switched to the normal operation mode after moving that
exceeds the range "-2147483648(-2
the actual position of servo motor during amplifier-less operation mode, the
current feed value and machine feed value might be not restored correctly.
Motor type
HG-KR053 (Resolution per servo motor rotation: 4194304 pulses)
HF-KP053 (Resolution per servo motor rotation: 262144 pulses)
31 31
) to 2147483647(2 -1) [pulse]" from
9 COMMON FUNCTIONS
9.6 Amplifier-less Operation Function
9
319