Mitsubishi Electric RD77MS2 User Manual page 629

■Servo parameter
• Control of servo parameters
Parameters of VC series are not controlled by Simple Motion module. Therefore, even though the parameter of VC series
is changed during the communication between Simple Motion module and VC series, it does not reflect to the buffer
memory.
• Servo parameter change request
Change request of servo parameter ("[Cd.130] Servo parameter write request" to "[Cd.132] Change data") can be executed.
However, the servo parameter of VC series is controlled in a unit of 2 words, so that it is necessary to set "2: 2 words write
request" in "[Cd.130] Servo parameter write request" for executing the parameter write. If 1 word write is executed to VC
series, the parameter write is failure, and "3" is stored in "[Cd.130] Servo parameter write request".
When the servo parameter of VC series is changed by the servo parameter change request, the parameter value after
changing the servo parameter cannot be confirmed using VC data editing software. Also, when the power of VC series is
turned OFF, the parameter changed by the servo parameter change request becomes invalid, and the value written by VC
data editing software becomes valid.
■Optional data monitor
The following table shows data types that can be set.
Data type
Effective load ratio
Regenerative load ratio
Peak load ratio
Model control gain
Encoder multiple revolution counter
Position feedback (Used point: 2 words)
Encoder single revolution position (Used point: 2 words)
■Gain changing command, PI-PID switching request, Semi/Fully closed loop switching request
Gain changing command and PI-PID switching request are available.
Semi/fully closed loop switching request becomes invalid.
■Driver communication
The driver communication is not supported. If the driver communication is set in a servo parameter, the error "Driver
communication setting error" (error code: 1C93H) will occur when the power is turned ON, and any servo amplifiers including
VC series cannot be connected.
VC series detection error/warning
When an error occurs at VC series, the error code is stored in "[Md.23] Axis error No.". The servo alarm of VC series (0x00
to 0xFF) is stored in "[Md.114] Servo alarm". The alarm detailed number is not stored.
"0" is always stored in "[Md.107] Parameter error No.".
Confirm the specifications of VC series for details of errors and warnings.
Unit
[%]
[%]
[%]
[rad/s]
[rev]
[pulse]
[pulse]
Appendix 3 Compatible Devices with SSCNETIII(/H)
APPENDICES APPENDIX
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