Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 250

■Monitor devices (R: D32020+48n to D32039+48n/Q: #8000 to #8639)
• When using the sensing pulse I/O module in axis mode, the following values are stored to "[Md.1014] Servo amplifier type
(R: D32030+48n/Q: #8000+20n)".
Type code Details
0 Not used
12309(3015H) MR-MT2010 (Sensing SSCNET/H head module)+MR-MT2200 (Sensing pulse I/O module: Axis mode Station 1)
12322(3022H) MR-MT2200 (Sensing pulse I/O module: Axis mode Station 2 and after)
• "[Md.104] Motor current (R: D32020+48n/Q: #8001+20n)" is always "0".
• "[Md.103] Motor speed (R: D32022+48n, D32023+48n/Q: #8002+20n, #8003+20n)" is not the actual motor speed. It is the
value of pulse output converted to speed (r/min) by sensing pulse I/O module parameters "Number of pulses per revolution
setting Low (PA15)", and "Number of pulses per revolution setting High (PA16)".
• When using the sensing pulse I/O module in axis mode, the following values are stored to "[Md.1027] Servo amplifier
Vendor ID (R: D32031+48n/Q: #8016+20n)".
Vendor ID code Details
0 Mitsubishi Electric Corporation
■Torque limit
• The torque limit depends on the specifications of the driver connected to the sensing pulse I/O module.
• The torque limit at the axes connected to the sensing pulse I/O module is ignored.
■Axis status signals
• "[St.1066] Zero pass (R:M32406+32n/Q: M2406+20n)" is always turned ON.
• When "Home position return request setting in pulse conversion unit" is "0: Home position return request ON during servo
OFF", "[St.1069] Home position return request (R: M32406+32n/Q: M2409+20n)" turns ON at a servo OFF state. All other
operations are the same as the servo amplifier.
• "[St.1076] Torque limiting (R: M32416+32n/Q: M2416+20n)" is always turned OFF.
■Axis command signals
• "[Rq.1156] Gain changing command (R: M34496+32n/Q: M3216+20n)" for the axes connected to the sensing pulse I/O
module is ignored.
• "[Rq.1157] PI-PID switching command (R: M34497+32n/Q: M3217+20n)" for the axes connected to the sensing pulse I/O
module is ignored.
• "[Rq.1158] Control loop changing command (R: M34498+32n/Q: M3218+20n)" for the axes connected to the sensing pulse
I/O module is ignored.
■Axis monitor devices
• The initial value of 300[%] is stored to "[Md.35] Torque limit value (R: D32014+48n/Q: D14+20n)" at power supply ON of the
servo amplifier control circuit, but the torque limit value is not sent to the pulse conversion module. Even if the value of the
torque limit value storage register is changed by the servo program or torque limit value change request (CHGT), the new
torque limit value is not sent to the pulse conversion module.
• "[Md.1006] Home position return re-travel value (R: D32009+48n/Q: D9+20n)" is always "0".
■Amplifier-less operation
Amplifier-less operation cannot be used for axes connected to sensing pulse I/O module. When amplifier-less operation is
executed, the axis changes to a disconnected state, and servo ready does not turn ON.
■Speed-torque control
Speed-torque control cannot be performed on axes connected to sensing pulse I/O module. When control mode is changed to
speed-torque control, a warning (error code: 09EAH) occurs.
■Driver communication
Driver communication cannot be used.
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
248
5.7 Connection of Sensing Module