Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 285

■Control mode
Control modes that can be used are shown below.
• Position control mode (position control, and speed control including position loop)
However, speed-torque control (speed control not including position loop, torque control, continuous operation to torque
control) cannot be used. If a control mode switch is performed, a warning (error code: 09EAH) occurs and the current control
is stopped.
■Servo OFF
The following occurs for 5-phase (open loop control configuration).
• When servo OFF occurs, if the motor is moved by an external force it is not possible to detect the position and position
information is not updated. Do not rotate the motors during servo OFF. If the motors are rotated a position displacement
occurs.
• In a servo OFF state the home position return request turns ON. After turning servo ON, perform a home position return
again.
• When an encoder is installed, checking position displacement and maladjustments is possible by monitoring "position
feedback" and "external encoder counter value" in the optional data monitor. Refer to the instruction manual of AlphaStep/
5-phase for the units and increase direction of the encoder count value, and checking methods.
■Servo instructions
Speed control() (VVF instruction, VVR instruction) cannot be used. If the VVF instruction or VVR instruction are started, a
minor error (error code: 19EBH) occurs.
■Control of servo parameters
Parameters of AlphaStep/5-phase are not controlled by Motion CPU. Therefore, even though the parameter of AlphaStep/5-
phase is changed during the communication between Motion CPU and AlphaStep/5-phase, it does not process, and is not
reflected to the parameter.
■Servo parameter change function
• Change function of servo parameter can be executed.
• When the power of AlphaStep/5-phase is turned OFF, the parameter changed by the servo parameter change function
becomes invalid, and the value written by AlphaStep/5-phase data editing software becomes valid.
• "Servo parameter write/read" device
Store the value in the following special registers to change or display the servo parameter.
Device No. Name
SD552 Servo parameter
write/read request
*1
SD804
SD805
SD806
SD807
*1 Do not execute the automatic refresh.
Meaning Details
Servo parameter The read value of servo parameter which executed "2: Read request" in "servo
read value parameter write/read request (SD804)" is stored.
Servo parameter • The "write/read request" is executed after setting of the axis No. and servo
write/read request parameter No.
flag 1: Write request
2: Read request
• "0" is automatically set by Motion CPU after completion of servo parameter
write/read request. ("-1" is stored by Motion CPU at write/read error.)
Axis No. The axis No. to write/read servo parameter is stored.
R64MTCPU: 1 to 64
R32MTCPU: 1 to 32
R16MTCPU: 1 to 16
Servo parameter The servo parameter No. to be written/read is stored in hexadecimal.
No.
H
Servo parameter The setting value of servo parameter to be written is stored when "1: Write
setting value request" is set in "servo parameter write/read request (SD804)".
Parameter ID
*: Refer to the AlphaStep/5-phase instruction
manual for details of parameter ID.
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.8 Compatible Devices with SSCNETIII(/H)
5
Set by
System (At
read
request)
User/
System
User
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