Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 287

■Monitor devices (R: D32020+48n to D32039+48n/Q: #8000 to #8639)
• [Md.1014] Servo amplifier type (R: D32030+48n/Q: #8000+20n)
This register stores the servo amplifier types below when using AlphaStep/5-phase.
Type code Details
8233(0102H) 5-phase stepping motor driver (ORIENTAL MOTOR Co., Ltd. make)
8234(0107H) Stepping motor driver AlphaStep (AZ series) (ORIENTAL MOTOR Co., Ltd. make)
• [Md.1027] Servo amplifier vendor ID (R: D32031+48n/Q: #8016+20n)
This register stores the servo amplifier vendor ID below when using AlphaStep/5-phase.
Vendor ID code Details
3 ORIENTAL MOTOR Co., Ltd.
• "[Md.1015] Motor current (R: D32020+48n/Q: #8001+20n)" is always "0".
■Torque limit
The torque limit value set by the Motion CPU is ignored. Set the torque limit value with the parameter on the AlphaStep/5-
phase side.
■In-position range
When the position of the cam axis is restored in advanced synchronous control, a check is performed by the servo parameter
"In-position range (PA10)". However, because the servo parameter settings are not performed in AlphaStep/5-phase, the "In-
position range" is checked as 100[pulse].
■Operation cycle
The operation cycle of 0.222[ms] cannot be used. Furthermore, even if the operation cycle is set to 0.222[ms] in the setting
foraxes 1 to 4 for 1 line, if the servo amplifier is mixed with the AlphaStep/5-phase, the servo amplifier operates with an
operation cycle of 0.444[ms].
AlphaStep/5-phase detection error
When an error occurs on AlphaStep/5-phase, the "[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)" turns
ON, and the minor error (error code: 1C80H) is stored in "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)". Error
codes read from the AlphaStep/5-phase are stored in "[Md.1019] Servo amplifier display servo error code (R: D32028+48n/Q:
#8008+20n)". Also, when an error occurs during home position return by driver home position return method, "Driver
operation alarm (b9)" of "[Md.500] Servo status7 (R: D32038+48n/Q: #8018+20n) turns ON, and the minor error (error code:
194BH) is stored in "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)". Alarms read from the AlphaStep/5-phase are
stored in the event history.
Eliminate the error cause, reset the servo amplifier error by turning ON "[Rq.1148] Servo error reset command (R:
M34488+32n/Q: M3208+20n)" and perform re-start. However, "0" is always stored in "[Md.107] Parameter error No. (R:
D32029+48n/Q: #8009+20n)".
Refer to the instruction manual of AlphaStep/5-phase for details of the errors.
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.8 Compatible Devices with SSCNETIII(/H)
5
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