Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 46

[Rq.1152] Feed current value update request command (R: M34492+32n/Q: M3212+20n)
This signal is used to set whether the feed current value will be cleared or not at the starting in speed/position switching
control or speed control ().
Setting value
ON
OFF
When it starts by turning on the "[Rq.1152] Feed current value update request command (R: M34492+32n/Q:
M3212+20n)", keep "[Rq.1152] Feed current value update request command (R: M34492+32n/Q:
M3212+20n)" on until completion of the positioning control. If "[Rq.1152] Feed current value update request
command (R: M34492+32n/Q: M3212+20n)" is turned off on the way, the feed current value may not be
reliable.
[Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)
When "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" is ON, this command is used to execute the servo
OFF state (free run state).
Setting value
ON
OFF
Execute this command after positioning completion because it becomes invalid during positioning.
CAUTION
• Turn the power supply of the servo amplifier side off before touching a servomotor, such as machine adjustment.
[Rq.1156] Gain changing command (R: M34496+32n/Q: M3216+20n)
This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF.
Setting value
ON
OFF
Refer to the following for details of gain changing function.
Servo amplifier Instruction Manual
[Rq.1157] PI-PID switching command (R: M34497+32n/Q: M3217+20n)
This signal is used to change the PI-PID switching of servo amplifier in the Motion controller by the PI-PID switching command
ON/OFF.
Setting value
ON
OFF
Refer to the following for details of PI-PID switching function.
Servo amplifier Instruction Manual
2 POSITIONING DEDICATED SIGNALS
44
2.1 Internal Relays
Description
The feed current value is not cleared at the starting. The feed current value is updated from the starting. In speed
control (), the software stroke limit is valid.
The feed current value is cleared at the starting. In speed/position switching control, the feed current value is updated
from the starting. In speed control (), "0" is stored in the feed current value.
Description
Servo OFF (free run state)
Servo ON
Description
Gain changing command ON
Gain changing command OFF
Description
PI-PID switching command ON (PID control)
PI-PID switching command OFF (PI control)