Follow Up Function - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Monitor devices and the servo amplifier status
The relationship between related command devices, monitor devices and the servo amplifier status is shown below. Refer to
the following for details on servo amplifier LED display and each status.
 Servo amplifier Instruction Manual
Status waiting
[Ab]
Communication error Connected
Initializing
[AC] to [AH]
Initialization complete
Ready OFF/servo OFF
[b ]
[Rq.1123]: OFF
[Rq.1123]: ON
/servo error
Ready ON/servo OFF
[C ]
[Rq.1155]: ON [Rq.1155]: OFF
Ready ON/servo ON
[d ]
Communication error/disconnected
Communication disconnected
[AA]
*: The value in the parentheses [ ] indicates the servo amplifier LED display.
[St.1075] Servo ready
(R: M32415+32n/Q: M2415+20n)
(1) OFF
(2) OFF
(3) OFF
(4) ON
(5) OFF

Follow up function

The follow up function monitors the number of motor rotations (actual present value) with the servo OFF and reflects the value
in the present feed value. If the servomotor rotates during the servo OFF, the servomotor will not just rotate for the amount of
droop pulses at switching the servo ON next time, so that the positioning can be performed from the stop position.
Execution of follow up
Follow up function is executed continually in the operation cycle during the servo OFF status (including servo OFF by servo
error).
[Rq.1123]All axes servo ON
command (R: M30042/Q: M2042)
[Rq.1155] Servo OFF command
(R: M34495+32n/Q: M3215+20n)
Servo ON/OFF status
Follow up
process execution
The follow-up process is performed during "servo OFF" and SSCNET(/H) communication.
(1)
(2)
(3)
(4)
(5)
[Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n)
b1: Servo ON
OFF
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Follow up
process execution
b0: Ready ON
OFF
OFF
ON
ON
OFF
Servo error occurrence
Follow up
process execution
4 AUXILIARY AND APPLIED FUNCTIONS
4.4 Servo ON/OFF
4
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