Mitsubishi Electric Q172CPU Programming Manual page 15

8.2.2 Parameter list .................................................................................................................................... 8-10
8.3 Rotary Tables ........................................................................................................................................... 8-13
8.3.1 Operation ........................................................................................................................................... 8-13
8.3.2 Parameter list .................................................................................................................................... 8-14
8.4 Cam .......................................................................................................................................................... 8-21
8.4.1 Operation ........................................................................................................................................... 8-22
8.4.2 Settings items at cam data creating ................................................................................................. 8-25
8.4.3 Parameter list .................................................................................................................................... 8-29
8.4.4 Cam curve list.................................................................................................................................... 8-37
9. REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START
9.1 Switching from the Real to Virtual Mode ................................................................................................. 9- 1
9.2 Switching from the Virtual to Real Mode ................................................................................................. 9- 5
9.2.1 Switching from the virtual to real mode by user side ....................................................................... 9- 5
9.2.2 Switching from the virtual to real mode by operating system software ........................................... 9- 5
9.2.3 Continuous operation on servo error in virtual mode....................................................................... 9- 6
9.3 Precautions at Real/Virtual Mode Switching ........................................................................................... 9- 7
9.4 Stop and re-start....................................................................................................................................... 9- 9
9.4.1 Stop operation/stop causes during operation and re-starting operation list.................................... 9-10
10. AUXILIARY AND APPLIED FUNCTIONS
10.1 Mixed Function of Virtual Mode with Real Mode ................................................................................ 10- 1
10.2 Cam/Ball Screw Switching Function.................................................................................................... 10- 7
APPENDICES
APPENDIX 1 Cam Curves........................................................................................................................APP- 1
APPENDIX 2 Error Codes Stored Using The Motion CPU ...................................................................APP- 5
APPENDIX 2.1 Expression Method for Word Data Axis No................................................................APP- 8
APPENDIX 2.2 Related Systems and Error Processing......................................................................APP- 9
APPENDIX 2.3 Servo program setting errors (Stored in D9190) ........................................................APP-10
APPENDIX 2.4 Drive module errors .....................................................................................................APP-15
APPENDIX 2.5 Servo errors.................................................................................................................APP-20
APPENDIX 2.6 PC link communication errors .....................................................................................APP-36
APPENDIX 2.7 Output Module Errors ..................................................................................................APP-37
APPENDIX 2.8 Errors at Real/Virtual Mode Switching........................................................................APP-43
APPENDIX 3 Special Relays/special registers ........................................................................................APP-45
APPENDIX 3.1 Special relays ..............................................................................................................APP-45
APPENDIX 3.2 Special registers ..........................................................................................................APP-49
APPENDIX 4 Setting Range for Indirect Setting Devices........................................................................APP-53
APPENDIX 5 Processing Times of the Motion CPU ...............................................................................APP-55
A - 14
9- 1 to 9-12
10- 1 to 10- 8
APP- 1 to APP-75