Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 47

[Rq.1158] Control loop changing command (R: M34498+32n/Q: M3218+20n)
When using the fully closed loop control servo amplifier, this signal is used to change the fully closed loop control/semi closed
loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.
Setting value
ON
OFF
[Rq.1158] Control loop changing command
(R: M34498+32n/Q: M3218+20n)
[St.1050] Control loop monitor status
(R: M30336+n/Q: M2272+n)
Refer to the following for details of control loop changing function.
Servo amplifier Instruction Manual
• When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if the control loop changing
command is turned ON/OFF, the command becomes invalid.
• When the following are operated during the fully closed loop, it returns to the semi closed loop control.
(1) Power supply OFF or reset of the Multiple CPU system
(2) Wire breakage of the SSCNET cable between the servo amplifier and Motion controller
(3) Control circuit power supply OFF of the servo amplifier
[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)
When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows:
OFF  ON  OFF. Positioning to the next block begins after the FIN signal changes as above.
It is valid, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.
<K 0>
CPSTART2
Axis 1
Point Axis 2
Speed 10000
FIN 100
1 ABS-2
Axis 1, 200000
Axis 2, 200000
M-code 10
2 ABS-2
Axis 1, 300000
Axis 2, 250000
M-code 11
3 ABS-2
Axis 1, 350000
Axis 2, 300000
M-code 12
4 ABS-2
Axis 1, 400000
Axis 2 400000
CPEND
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are both signal for the FIN signal wait function.
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are valid only when FIN acceleration/deceleration is designated in the servo
program. Otherwise, the FIN signal wait function is disabled, and the "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" does not turn on.
Description
During fully closed loop control
During semi closed loop control
Fully closed loop
control change
ON
OFF
ON
OFF
Point
M-code
[St.1079] M-code outputting
(R: M32419+32n/Q: M2419+20n)
[Rq.1159] FIN signal
(R: M34499+32n/Q: M3219+20n)
1. When the positioning of point 1 starts, M-code 10 is output and
the M-code outputting signal turns on.
2. FIN signal turns on after performing required processing in the
Motion SFC program. Transition to the next point does not
execute until the FIN signal turns on.
3. When the FIN signal turns on, the M-code outputting signal
turns off.
4. When the FIN signal turns off after the M-code outputting signal
turns off, the positioning to the next point 2 starts.
Semi closed loop
control change
1 WAIT 2
10 11
Timing Chart for Operation Description
2 POSITIONING DEDICATED SIGNALS
45
2.1 Internal Relays
2