Mitsubishi Electric Q Series Programming Manual page 172

4 AUXILIARY AND APPLIED FUNCTIONS
Item
Servo amplifier type
Servo amplifier status
Servo amplifier external
signal
(At the setting valid)
Home position return
Absolute position system
Operation using
MR Configurator
Optional data monitor
Driver communication
(2) Control details
Operation during amplifier-less operation is shown below.
All axes set in the system setting are connected with the following type regardless of the setting details of
system setting.
(1) Q173DSCPU/Q172DSCPU use
(a) For communication type "SSCNET /H"
• Servo amplifier : MR-J4-10B
• Servo motor : HF-KR053
(b) For communication type "SSCNET "
• Servo amplifier : MR-J3-10B
• Servo motor : HF-KP053
(2) Q173DCPU(-S1)/Q172DCPU(-S1) use
• Servo amplifier : MR-J3-10B
• Servo motor : HF-KP053
• Deviation counter value : Always 0
• Motor speed : Motor speed for the command
• Motor current value : At the amplifier-less operation start: "0"
(The motor current value can be simulated during amplifier-less operation by
changing the motor current (#8001+20n) using the user program.)
• Servo ready signal : This signal changes depending on the status of all axes servo ON command
(M2042) or servo OFF command (M3215+20n).
• Torque limiting signal : This signal turns ON by the following condition.
|Motor current value|  Torque limit value
(Note): When the positive direction and negative direction of torque limit value is
|Motor current value|  Positive direction torque limit or Negative direction torque limit value
• Zero pass signal : Always ON
Each signals is shown below at the amplifier-less operation start.
(1) Q173DSCPU/Q172DSCPU use
• FLS signal (M2411+20n) : Normal open: OFF/Normal close: ON
• RLS signal (M2412+20n) : Normal open: OFF/Normal close: ON
• DOG signal (M2414+20n) : Normal open: OFF/Normal close: ON
(2) Q173DCPU(-S1)/Q172DCPU(-S1) use
• FLS signal (M2411+20n) : ON
• RLS signal (M2412+20n) : ON
• DOG signal (M2414+20n) : OFF
The servo amplifier external signals can be operated during amplifier-less operation by turning ON/OFF the
FLS signal (M2411+20n), RLS signal (M2412+20n) or DOG signal (M2414+20n) using the user program.
All home position return methods can be used.
The absolute position is controlled as the normal servo amplifier connection.
(1) At the amplifier-less operation start
The absolute position is restored by the saved absolute position data. The absolute position is restored as
the travel value "0" during the servo amplifier's power supply OFF.
(2) During amplifier-less operation
Suppose the servo motor operated during amplifier-less operation, and the absolute position data is
refreshed.
(3) The servo amplifiers are connected after amplifier-less operation
The absolute position is restored by the refreshed absolute position data during amplifier-less operation.
When the distance between the motor position of saved absolute position data and actual motor
position is the allowable travel during Power-Off or more away, the minor error (Error code: 901 (real
mode)/9010 (virtual mode)) will occur. If the distance is "2147483648[PLS]" or more away, the absolute
position is restored normally.
Online operation and monitor of the servo amplifiers cannot be executed.
Only "position feed back" and "absolute position encoder single revolution position" are possible.
The other monitor values are "0".
Cannot change to amplifier-less operation when connected and not connected servo amplifier axes are mixed.
Change to amplifier-less operation when all axes are connected, or disconnect all axes of the servo amplifier.
Operation
set individually using CHGT2 instruction is as follows.
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