Mitsubishi Electric Q172CPU Programming Manual page 241

10 AUXILIARY AND APPLIED FUNCTIONS
Items
Servo program
start
Stop
JOG operation
Current value
change
Speed change
Torque limit value
change
(b) Control methods
Control method
• Use a Motion SFC program start or
S(P).SVST instruction.
• Set a real mode axis No. as axis No..
• Turn the stop command (M3200+20n)
or rapid stop command (M3201+20n)
ON in real mode.
• Turn the external signal (STOP) ON.
• Use the deceleration stop or all axes
rapid stop (Test mode ON) from the
peripheral device.
• Change speed to "0".
Use the forward rotation JOG start
command (M3202+20n) or reverse
rotation JOG start command
(M3203+20n).
(Note),
• Use S(P).CHGA Jn
instruction.
• Set a real mode axis No. as axis No..
• Use S(P).CHGV, CHGV instruction.
• Set a real mode axis No. as axis No..
• Use S(P).CHGT, CHGT instruction.
• Set a real mode axis No. as axis No..
• When the ZERO, OSC, CHGA-C or CHGA-E
instruction is executed to real mode axis, "Servo
program setting error" (error code: 905) occurs.
• When the real mode axis is set to the virtual
servo program and it starts, "Servo program
setting error" (error code: 906) occurs.
• When the real mode axis and virtual axis are set
together to the interpolation axis if it starts,
"Servo program setting error" (error code: 906)
occurs.
Refer to the "Q173CPU(N)/Q172CPU(N) Motion
controller (SV13/SV22) Programming Manual
(REAL MODE)" for details of stop processing.
Control with parameter JOG operation data.
• When the S(P).CHGA Cn
CHGA instruction is executed, the instruction is ignored.
• When the CHGA-C or CHGA-E instruction is
executed to real mode axis, "Servo program
setting error" (error code: 905) occurs.
Torque limit value of real mode axis at switching
from real to virtual mode continues the state in
real mode.
(Note) : "n" shows the numerical value correspond to axis No..
10 - 4
Remarks
(Note)
or CHGA En
(Note)