Mitsubishi Electric Q Series Programming Manual page 261

10 AUXILIARY AND APPLIED FUNCTIONS
Items
Servo program start
Stop
JOG operation
Speed-torque control
QDS
Current value change
Speed change
Torque limit value
change
Torque limit value
individual change QDS
Target position change
QDS
(2) Control methods
Control method
• Use a Motion SFC program start or
D(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
MT Developer2.
• Change speed to "0".
Use the forward rotation JOG start
command (M3202+20n) or reverse
rotation JOG start command
(M3203+20n).
• Set the parameter required at Motion
SFC program to switch the mode.
• Set a real mode axis No. as axis No. for
parameter setting.
(Note)
• Use D(P).CHGA Jn
instruction.
• Set a real mode axis No. as axis No.
• Use D(P).CHGV, CHGV instruction.
• Set a real mode axis No. as axis No.
• Use D(P).CHGT, CHGT instruction.
• Set a real mode axis No. as axis No.
• Use D(P).CHGT2, CHGT2 instruction.
• Set a real mode axis No. as axis No.
• Use CHGP instruction.
• Set a real mode axis No. as axis No.
(Note): "n" shows the numerical value (axis No. 1 to 32) correspond to axis No.
(3) Error codes in real mode axis
Error codes at positioning control in the mixed function of virtual mode with real
mode are shown below.
(a) Minor error (1 to 999)
(b) Major error (1000 to 1299)
Minor error (4000 to 9990)/major error (10000 to 12990) code of output module in
virtual mode are not set in minor/major error code storage register
(D6+20n/D7+20n).
• 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 "Q173D(S)CPU/Q172D(S)CPU Motion
controller (SV13/SV22) Programming Manual (REAL
MODE)" for details.
Control with parameter JOG operation data.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion
controller (SV13/SV22) Programming Manual (REAL
MODE)" for details.
• When the D(P).CHGA Cn
, CHGA
executed, the instruction is ignored.
• When the CHGA-C instruction is executed to real
mode axis, the instruction is ignored.
Torque limit value of real mode axis at switching from
real mode to virtual mode continues the state in real
mode.
10 - 4
Remarks
(Note)
instruction is