Mitsubishi Electric RD77MS2 User Manual page 324

• Switch from the amplifier-less operation mode to the normal operation mode
1.
Stop all operating axes, and then confirm that the BUSY signal for all axes turned OFF.
2.
Turn OFF the PLC READY signal [Y0].
3.
Confirm that the READY signal [X0] turned OFF.
4.
Set "0000H" in "[Cd.137] Amplifier-less operation mode switching request".
5.
Confirm that "0: Normal operation mode" was set in "[Md.51] Amplifier-less operation mode status".
• Operation chart
The following drawing shows the operation for the switching of the normal operation mode and amplifier-less operation mode
[RD77MS4 operation example]
Each operation
BUSY signal
[X10,X11,X12,X13]
PLC READY signal
[Y0]
READY signal [X0]
[Cd.137] Amplifier-less operation
mode switching request
[Md.51] Amplifier-less operation
mode status
■Point for operation mode switching procedure
• Switch the "normal operation mode" and "amplifier-less operation mode" after confirming the all input signals except
synchronization flag [X1] OFF. When switching the normal operation mode and amplifier-less operation mode in the status
that any one of input signals except the synchronization flag [X1] is ON, the error "Error when switching from normal
operation mode to amplifier-less operation mode" (error code: 18B0H) or "Error when switching from amplifier-less
operation mode to normal operation mode" (error code: 18B1H) will occur, and the switching of operation mode will not
execute.
• When the operation mode is switched with the servo amplifiers connected, the communication to the servo amplifiers is
shown below.
• At switching from normal operation mode to amplifier-less operation mode: The communication for all axes during connection is disconnected. (The servo
amplifier LED indicates "AA".)
• At switching from amplifier-less operation mode to normal operation mode: The communication to the servo amplifiers during connection is started.
• Even if the servo amplifiers are not connected, the switching of operation mode is possible.
• The forced stop is invalid regardless of the setting in "[Pr.82] Forced stop valid/invalid selection" during the amplifier-less
operation mode.
• Only "0000H" and "ABCDH" are valid for the "[Cd.137] Amplifier-less operation mode switching request". The switching to
amplifier-less operation mode can be accepted only when "[Cd.137] Amplifier-less operation mode switching request" is
switched from "0000H" to "ABCDH". The switching to normal operation mode can be accepted only when "[Cd.137]
Amplifier-less operation mode switching request" is switched from "ABCDH" to "0000H".
9 COMMON FUNCTIONS
322
9.6 Amplifier-less Operation Function
Normal operation
mode
V
0000H
0
Amplifier-less operation mode
ABCDH
1
Normal operation
mode
t
0000H
0