Mitsubishi Electric RD77MS2 User Manual page 557

• When the servo amplifier's power supply is turned ON after the PLC READY signal [Y0] is turned OFF to ON ((C) in the
following figure)
Communication start timing with the servo
amplifier
Servo parameter to be transferred
Buffer memory/
RD77MS
internal memory
power ON
data setting
PLC READY [Y0]
READY [X0]
Servo parameter of
buffer memory/ Indefinite value
internal memory
Communication
Communication invalid
operation status
with servo amplifier
[Md.26] Axis operation
0 (Standby)
status
■How to change individually the servo parameter after transfer of servo parameter
The servo parameters can be individually changed from Simple Motion module with the following axis control data.
n: Axis No. - 1
Setting item
[Cd.130] Servo parameter write
request
[Cd.131] Parameter No. (Setting
for servo parameters to
be changed)
[Cd.132] Change data
• Both of the servo parameter area (internal memory (nonvolatile) and buffer memory/internal memory) of
Simple Motion module and the parameter of servo amplifier are changed.
• When the servo parameters that become valid by turning ON the servo amplifier's power supply are
changed, be sure to turn ON twice the servo amplifier's power supply after change. (The servo amplifier's
RAM data are changed by parameter setting, but the servo amplifier's EEPROM data are not changed. The
EEPROM data before the change are overwritten to RAM by the servo amplifier's power supply ON again,
and then the servo amplifier starts. After that, the changed data are written to the servo amplifier's EEPROM
in an initial communication with Simple Motion module. Therefore, the changed data are overwritten to the
RAM data by turning the servo amplifier's power supply ON again.)
When the servo amplifier had started ((B) in the following figure)
The data written from the program/engineering tool before the PLC READY signal [Y0] ON. ((A) in the
following figure)
Servo parameter setting from
the program/engineering tool (A)
Initialization
PLC READY signal
completion CPU module
[Y0] OFF
of RD77MS
RUN
Value of internal memory (nonvolatile)
Communication start valid
20 (Servo amplifier has not been connected/servo amplifier power OFF)
Setting details
Set the write request of servo parameter.
Set "1" or "2" after setting "[Cd.131] Parameter No. (Setting for servo parameters to be changed)"
and "[Cd.132] Change data".
1: 1 word write request
2: 2 words write request
Other than 1 and 2: Not request
Set the servo parameter to be changed.
Set the change value of servo parameter set in "[Cd.131] Parameter No. (Setting for servo
parameters to be changed)".
Servo amplifier
power ON (B)
Axis connection completion
ON (C)
→
Write value by the program/engineering tool
Transfer the servo parameter at this point to the servo amplifier
Communication start
(Axis connection)
12 DATA USED FOR POSITIONING CONTROL
12.9 Memory Configuration and Data Process
During communication
21 (Servo OFF)
Buffer memory
address
4354+100n
4355+100n
4356+100n
4357+100n
555
12