Mitsubishi Electric MELSEC Q Series Programming Manual page 507

APPENDICES
Table 1.4 Positioning control start error (100 to 199) list (Continued)
Control mode
Error
code
153
154
155
156
157
158
159
Error cause
• It started at the virtual mode
and during deceleration by
occurrence of the output
module servo error.
• One of the devices set in the
speed-torque control
operation data is outside the
range.
• The servo parameter "POL
reflection selection at torque
control (PC29)" is set to "0:
Valid" in the axis where the
torque initial value selection
at control mode switching is
set to the feedback torque.
• The control mode switching
was executed with an invalid
value specified in the control
mode setting device.
• The control mode switching
request was executed during
the zero speed was OFF.
• At the control mode
switching, a value set to the
speed limit value at speed-
torque control is outside the
range.
• At the control mode
switching, a value set to the
torque limit value at speed-
torque control is outside the
range.
• The control mode switching
request of speed/torque
control was executed for the
axis that connects to the
stepping driver which do not
support the control mode
switching.
APP - 16
Error
Corrective action
processing
• Start in the virtual mode again
Positioning
after correct the error cause in
control does
the real mode.
not start.
• Correct the speed-torque
The control
control operation data device.
mode is not
switched.
Control with • Use the servo amplifier
the initial compatible with the reflection
value selection at torque control and
selection of set the POL reflection selection
torque at at torque control to "1: Invalid".
control mode • Set the command torque to the
switching as torque initial value selection at
command control mode switching.
torque.
• Correct the value of the control
mode setting device.
• When switching the mode from
the continuous operation to
torque control mode to
another, return the mode to the
previous one.
The control
mode is not • Switch the control mode while
switched.
the axis is stopped and the
zero speed is turned on.
• Make "Invalid selection during
zero speed at control mode
switching" valid when not
waiting for the stop of the servo
motor.
Control with • Set the correct speed limit
the value (within the setting range).
maximum
setting range
of each axis
unit.
• Set the torque limit value to
Control with
0.1[%] to 1000.0[%].
the default
value
"300[%]".
• Do not switch the control mode
switching request of
The control speed/torque control for the
mode is not axis that connects to the
switched. stepping driver which does not
support the control mode
switching.