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Mitsubishi Electric RD77MS2 User Manual Page 628

Melsec iq-r simple motion module.
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  • Contents

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Item
Amplifier-less operation
function
Servo parameter change
request
Driver communication
Monitoring of servo parameter
error No.
Servo alarm/warning
Programming tool
*1 Confirm the specifications of VC series for details.
*2 The direct drive DISC series manufactured by Nikki Denso Co., Ltd. can restore the absolute position in the range from -2147483648 to
2147483647. Confirm the specifications of VC series for restrictions by the version of VC series.
*3 When using the virtual encoder pulse number function of VC series, the unlimited length feed is available. When this function is not
used, the unlimited length feed is not available. Confirm the specifications of VC series for details of this function.
*4 The specification of torque limit direction differs by the version of VC series. Confirm the specifications of VC series for details.
*5 Refer to each servo amplifier instruction manual for the servo amplifiers that can be used.
Precautions during control
■Absolute position system (ABS)/Incremental system (INC)
The setting of ABS/INC operates by the setting of VC.
■Unlimited length feed
When using the virtual encoder pulse number function of VC series, the unlimited length feed is available. When this
function is not used, the servo error 61468 (F01CH) "Absolute encoder over flow error" occurs after "Encoder multiple
revolution counter  Encoder resolution + Encoder single revolution position" exceeds the range of -2147483648 to
2147483647, and the operation stops.
■Home position return
When "1" is set in the first digit of the parameter of VC series "Select function for SSCNET on communicate mode", it is
possible to carry out the home position return without passing the zero point. (Return to origin after power is supplied will be
executed when passing of Motor Z phase is not necessary.) When "0" is set, the error "Home position return zero point not
passed" (error code: 197AH) occurs because the home position return is executed without passing the motor Z phase (Motor
reference position signal).
■Control mode
Control modes that can be used are shown below.
• Position control mode (speed control including position control and position loop)
• Speed control mode (speed control not including position loop)
• Torque control mode (torque control)
However, it is not available to switch to continuous operation to torque control mode of expansion control "Speed-torque
control". If the mode is switched to continuous operation to torque control mode, the error "Continuous operation to torque
control not supported" (error code: 19E7H) occurs and the operation stops.
"1: Feedback torque" cannot be set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque
control mode". If it is set, the warning "Torque initial value selection invalid" (warning code: 09E5H) occurs and the command
value immediately after switching is the same as the case of selecting "0: Command torque".
APPENDICES APPENDIX
Appendix 3 Compatible Devices with SSCNETIII(/H)
*1
VC series
Possible (Operates artificially as one of the followings during amplifier-less operation.
• Servo amplifier type: MR-J4-10B, Motor type: HG-KR053 (resolution per servomotor rotation: 4194304 pulses)
• Servo amplifier type: MR-J3-10B, Motor type: HF-KP053 (resolution per servomotor rotation: 262144 pulses))
Possible (2 words write)
Not possible
Not possible
Alarm codes/warning codes detected
by VC series are stored in "Servo
alarm/warning".
MR Configurator2 is not available.
Use VC data editing software.
MR-J4(W)-B
Possible (1 word write)
*5
Possible
Possible
Alarm codes/warning codes detected by servo amplifier are stored in "Servo
alarm/warning".
MR Configurator2 is available.
MR-J3(W)-B

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