Real Drive Axis - Mitsubishi Electric MELSEC iQ-R Series User Manual

Virtual linked axis data type AXIS_VIRTUAL_LINK members (excluding AxisRef)
Variable/Structure name
AxisName.PrConst.
AxisType
PosRestoration_AbsPosBase
OperationCycle
AxisName.Md.
AxisStatus

Real drive axis

This axis uses a drive unit which is compatible with the CiA402 drive profile connected to CC-Link IE TSN. It is counted as the
number of control axes.
Driver control mode transition
A driver device connected as a real drive axis follows the CiA402 drive protocol, and changes the control mode according to
the "Modes of operation" object output from the motion system. The driver inputs the current mode as the "Modes of operation
display" object in the motion system and displays it in AxisName.Md.Driver_Mode.
The motion system supports the operations of below modes.
Supported control mode
Homing mode (hm) 6: hm
Cyclic position 8: csp
mode (csp)
Cyclic velocity 9: csv
mode (csv)
Cyclic torque mode 10: cst
(cst)
The control mode of the driver must be csp when the driver is connected.
Control mode switching of the driver is executed at the same time when MCFB is executed. The state transition is shown
below.
MC_TorqueControl
Cyclic
torque mode
(cst)
*1 Transits after the axis is stopped by homing completion or error occurrence.
*2 Transits at stop completion or error occurrence.
*3 Transits when a command other than MCv_SpeedControl/MC_TorqueControl is being Aborting/Buffered.
1 AXIS SETTING
38
1.2 Axis Type
Name
Axis type setting
Absolute position reference setting
Control cycle setting
Axis status
Description
Executes homing operation by a driver.
Executes control following the sequential positioning
command from the controller in each communication cycle.
Executes control following the velocity command from the
controller in each communication cycle.
Executes control following the torque command from the
controller in each communication cycle.
Start
Cyclic
position mode
(csp)
*2
*3
MC_MoveVelocity
MC_TorqueControl
Details
Page 41 Axis Assignment
Page 42 Absolute position control setting
Page 41 Axis Assignment
Displays the current axis status.
-1: Invalid (Axis variable uninitialization/axis parameter error)
0: Disabled (Axis disabled)
1: ErrorStop (Error stop)
2: Stopping (Deceleration stop)
3: Homing (Homing)
4: Standstill (Standby)
5: DiscreteMotion (Positioning operation)
6: ContinuousMotion (Continuous operation)
7: SynchronizedMotion (Synchronized operation)
MC_Home
*1
MCv_SpeedControl
*3
Cyclic
speed mode
(csv)
Reference
Page 167 Driver homing method
Page 241 DIRECT CONTROL
Homing mode
(hm)