Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 172

When parameters are updated at the servo amplifier side
When the servo parameters are changed by one of the causes below after communication with the servo amplifier has been
established, the Motion CPU will automatically read the servo parameters and reflect them to the servo parameter storage
area in the Motion CPU.
• The parameters are changed by auto tuning.
• The parameters are changed by connecting directly MR Configurator2 to the servo amplifier.
• If the power supply of Multiple CPU system is turned off/reset or the power supply of servo amplifier is
turned off immediately after change of parameters on the servo amplifier side, changes may not be reflected
to the built-in memory or the servo parameter file.
• If changes are made to the servo parameter file content, and these changes are updated to the servo
parameter open area inside the Motion CPU, any changes made to parameters at the servo will not be
updated to the servo parameter open area inside the Motion CPU until updating of the changed parameter
content to the servo amplifier is complete.
• When changes to the servo parameters need to be reflected to the MT Developer2 project, read the servo
parameters from the Motion CPU and save data.
When the update of the servo parameter file is required
If the content of the servo parameter open area inside the Motion CPU changes, and it is necessary to update the servo
parameter file, the relevant axis bit for the "Servo parameter change flag (RIO)(SD555)", and "Servo parameter change flag
(SD556 to SD559)" will turn ON, and changes will be automatically updated to the servo parameter file the next time the
Multiple CPU system power supply is turned OFF or the system is reset. Furthermore, changes can be updated to the servo
parameter file with a "File transmission request (SD820)". (The relevant axis bit turns OFF when the file update is complete.)
b15 b14 b13 b12 b11 b10
« « «
SD555
Axis Axis Axis
SD556
16 15 14
Axis Axis Axis
SD557
32 31 30
Axis Axis Axis
SD558
48 47 46
Axis Axis Axis
SD559
64 63 62
Devices used
Explicit synchronization of servo parameters between areas can be performed with a special register. The special registers
used and update target areas are shown below.
• Servo Parameter Read/Change Function(Page 171 Servo Parameter Read/Change Function)
• File Transfer Function(Page 114 File Transfer Function)
●: Update source, : Update target
Special register
Servo parameter write request (SD804)
Servo parameter read request (SD804)
File transmission request (SD820) (write)
File transmission request (SD820) (read)
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
170
5.1 Servo Parameter Management
b9 b8 b7
Axis
« « « « «
608
Axis Axis Axis Axis Axis Axis
13 12 11 10 9
Axis Axis Axis Axis Axis Axis
28 28 27 26 25 24
Axis Axis Axis Axis Axis Axis
45 44 43 42 41 40
Axis Axis Axis Axis Axis Axis
61 60 59 58 57 56
Update target
Servo parameter file



●
b6 b5 b4 b3 b2
Axis Axis Axis Axis Axis
607 606 605 604 603
Axis Axis Axis Axis Axis
8 7 6 5 4 3
Axis Axis Axis Axis Axis
23 22 21 20 19
Axis Axis Axis Axis Axis
39 38 37 36 35
Axis Axis Axis Axis Axis
55 54 53 52 51
Servo parameter
open area


●

b1 b0
Axis Axis
602 601
Axis Axis
2 1
Axis Axis
18 17
Axis Axis
34 33
Axis Axis
50 49
Servo amplifier/
Sensing module

●


Device
●


