Mitsubishi Electric Q172CPU Programming Manual page 164

7 TRANSMISSION MODULE
(e)
The refresh cycle of clutch status signal is an operation cycle.
ON/OFF mode
Mode setting device
0
value
OFF
Clutch ON/OFF
command device
(Note)
1 operation cycle
required
Clutch status
OFF
signal
Current value of
virtual axis (input
Continuance from
axis)
current value at
clutch OFF
Current value of
output axis
Clutch OFF state
Fig. 7.3 Operation Timing for Address Mode
POINT
(1) The mode setting device of except for "0 to 4" is regarded as an error, and
control is continued at the previous setting value.
(2) Clutch operation mode changes are valid at any time.
(3) Clutch ON/OFF address setting device changes are valid at any time. Since
they have 2-word data, set it as 32-bit integer type data.
(3) Address mode 2
(a) When the current value of virtual axis reaches an address of clutch ON/OFF
address setting device, the clutch ON/OFF is executed. (Mode setting
device is "2".)
(b) When the clutch ON/OFF command device is ON, the following controls are
executed according to the current clutch status.
1) When the current clutch status is OFF.
When the current value of virtual axis reaches an address set in the
clutch ON address setting device, the clutch is set to the ON state.
After that, it is set the state in 2).
2) When the current clutch status is ON.
When the current value of virtual axis reaches an address set in the
clutch OFF address setting device, the clutch is set to the OFF state.
After that, it is set the state in 1).
Address mode
1
ON
ON
1 operation cycle
required
ON
Clutch ON address
Clutch ON state
(Note) : Refer to Section "7.2.2 Parameters" for details.
7 - 15
OFF
Clutch OFF address
(Note)
Clutch OFF state
(Note)