Mitsubishi Electric A173UHCPU Programming Manual page 285

7. POSITIONING CONTROL
[Cautions]
(7) Details of errors occurring during the setting of data for manual pulse generator
operation are shown in the table below.
Error Details
A digit was set outside the
ranges 1 to 32.
The designated axis is set for
manual pulse generator opera-
tion.
More than 4 digits set
(1) The start accept flag turns ON for axis during manual pulse generator opera-
tion.
Consequently, positioning control or zeroing cannot be started by the servo
system CPU or a peripheral device.
Turn OFF the manual pulse generator enable flag when manual pulse genera-
tor operation is complete.
(2) The torque limit value is fixed at 300% during manual pulse generator opera-
tion.
(3) When the manual pulse generator enable flag comes ON for a driven axis, for
example one performing positioning control or JOG operation, error 214 is set
for the relevant axis and manual pulse generator input is not enables. After the
axis has been stopped, the rise of the manual pulse generator enable flag is
validated, the manual pulse generator input enabled status is established, the
start accept flag comes ON, and input from the manual pulse generator is ac-
cepted.
(4) If the manual pulse generator enable flag for another manual pulse generator
No. is turned ON for an axis currently performing manual pulse generator op-
eration, error 214 is set for the relevant axis and the input of that manual pulse
generator is not enabled.
(5) If, after the manual pulse generator enable flag has been turned OFF, it is
turned ON again for an axis that is performing smoothing deceleration, error
214 is set and manual pulse generator input is not enabled. Turn the manual
pulse generator enable flag ON after smoothing deceleration to a stop (after the
start accept flag has gone OFF).
(6) If, after the manual pulse generator enable flag has been turned OFF, another
axis is set during smoothing deceleration and the same manual pulse generator
enable flag is turned ON again, manual pulse generator input will not be en-
abled. In this case, the manual pulse generator axis setting error bit of the
manual pulse generator axis setting error storage register (D9185 to D9187)
comes ON, and the manual pulse generator axis setting error flag (M9077)
comes ON. Establish an interlock such that the start accept flag of the desig-
nated axis going OFF is a condition for the manual pulse generator enable flag
coming ON.
• Digit ignored where error occurred.
• Manual pulse generator of valid axis with settings in rang es 1
to 32.
• Duplicated designated axis ignored.
• Executes the manual pulse generator operation set first.
• All set axes ignored
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Error Processing