Mitsubishi Electric MELSEC Q Series Programming Manual page 619

APPENDICES
2) Servo external signals when using driver home position return method
At driver home position return method home position return, check the
status of the servo external signals. Also check that external signals are
OFF when external signal parameters are not set. For contacts
(normally open contact/normally closed contact), match each setting of
the IAI electric actuator controller with the servo external signal
parameters of MT Developer2.
Refer to IAI electric actuator controller instruction manual for details.
(c) Control mode
Control modes that can be used are shown below.
• Position control mode (position control, and speed control including
position loop)
However, speed-torque control (speed control not including position loop,
torque control, continuous operation to torque control) cannot be used. If a
control mode switch is performed, a minor error (error code: 159) occurs.
(d) Servo OFF
When the motor is moved by an external force during servo OFF, position
information is updated.
(e) Servo instructions
Speed control ( ) (VVF instruction, VVR instruction) cannot be used.
If the VVF instruction or VVR instruction are started, a minor error (error
code: 136) occurs.
(f) Servo parameter
1) Control of servo parameters
Parameters of IAI electric actuator controller are not controlled by Motion
CPU.
Therefore, even though the parameter of IAI electric actuator controller
is changed during the communication between Motion CPU and IAI
electric actuator controller, it does not process, and is not reflected to the
parameter.
2) Servo parameter change function
a) Change function of servo parameter can be executed.
The operation for the servo parameter change function is shown
below.
The servo parameter of IAI electric actuator controller is controlled in a unit of 2 words, so
Servo that it is necessary to set "3: 2 words write request" in servo parameter write/read request
parameter (SD804) for executing the parameter write. If "1: write request" is executed to IAI electric
write request actuator controller, the parameter write fails, and "-1" is stored in servo parameter write/read
request (SD804).
The servo parameter of IAI electric actuator controller is controlled in a unit of 2 words, so
Servo that it is necessary to set "4: 2 words read request" in servo parameter write/read request
parameter read (SD804) for executing the parameter read. If "2: read request" is executed to IAI electric
request actuator controller, the parameter read fails, and "-1" is stored in servo parameter write/read
request (SD804).
APP - 128
Operation for the servo parameter change function