Mitsubishi Electric Q172CPU Programming Manual page 243

10 AUXILIARY AND APPLIED FUNCTIONS
Items
External lower LS signal
(RLS) turns off during travel
to reverse direction
(address decrease
direction).
Change the torque limit
value.
Servo OFF command
(M3215+20n)
Operation for output axis of mechanical
• Major error (error code: 11040)
occurs.
• Operation continues for axis without
clutch.
• Operation is controlled based on the
operation mode on error for axis with
clutch.
Any time valid by setting the torque limit
value storage register (D14+20n) of
output axis and changing preset value.
(e) Difference for operation between the real mode axis in virtual mode and real
mode
When the servo OFF command (M3215+20n) turns on at using the mixed
function of virtual mode with real mode in virtual mode, positioning control
stops.
Operation for real mode axis
Items
Any time valid at using real mode
axis in virtual mode.
(f) Cautions
1) Axis operation, current value, speed and torque limit value cannot be
changed for all axes during mode switching.
2) When the feed current value of real mode axis is outside the stroke limit
range at virtual mode switching, an error will occur at start of real mode
axis. Use the JOG operation to reverse within the stroke limit range.
3) Switching from virtual mode to real mode cannot be executed during
positioning control of real mode axis. Switch a mode after stop the real
mode axis.
system program
in virtual mode
10 - 6
Operation for real mode axis
• Major error (error code: 1002) occurs
by turning the external lower LS signal
(RLS) off at start to reverse direction,
and operation does not start.
• Major error (error code: 1102) occurs
by turning the external lower LS signal
(RLS) off during start to reverse
direction, operation stops based on
"deceleration processing at stop" of
parameter block.
• Torque limit value change instructions
(S(P).CHGT, CHGT) are valid.
Operation for axis in real mode
Invalid during positioning control.