Mitsubishi Electric Q Series Programming Manual page 214

4 AUXILIARY AND APPLIED FUNCTIONS
(5) Mechanical system program
(a) Do not set the slave axis to the output modules of the mechanical system
program or the real mode axis. When the slave axis is set to output modules
of the mechanical system program or the real mode axis, the position
commands to the servo amplifier become invalid.
(b) If a servo error occurs in the slave axis during operation by driver
communication function, the "Error time operation mode" which was set in
the mechanical system program does not apply. Measures at an error
occurrence should be executed in the user program.
(6) Advanced synchronous control
(a) The master axis can be set to the servo input axis, or the output axis.
(b) When the slave axis is set to the servo input axis, set [Pr.300] Servo input
axis type to "2: Real current value", or "4: Feedback value".
When set to anything else, the slave axis does not operate as input axis.
(c) Do not set the slave axis to output axis. When the slave axis is set to output
axis, the position commands to the servo amplifier become invalid.
(7) Motion dedicated PLC instruction
Do not execute the following Motion dedicated PLC instructions for slave axis.
When executed they become invalid.
• D(P).SVST (Start request of the specified servo program)
• D(P).CHGV (Speed change request of the specified axis)
(8) Motion SFC program
Do not execute the following instructions for slave axis. When executed they
become invalid.
• CHGV (Speed change request)
• CHGP (Target position change request)
(9) Control mode of master axis
The control mode of the master axis can switch between position control mode,
speed control mode, and torque control mode. For the master axis, when a
switch to continuous operation to torque control mode is executed, there is a
minor error (error code: 155), and the control mode does not switch.
(10) Control mode of slave axis
(a) Because the slave axis is always controlled by torque mode, the control
mode (b2, b3) of servo status1 (#8010+20n) is in torque control mode ([0,
1]).
(b) Do not operate slave axis by speed-torque control. For the slave axis,
when a control mode switch is executed, or is operated by speed-torque
control, the speed-torque control commands become invalid.
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