Mitsubishi Electric Melsec Q Series Programming Manual page 425

7 MOTION CONTROL PROGRAMS
POINT
Current value changing instructions
• When PLC ready flag (M2000) or PCPU READY complete flag (SM500) is OFF,
a minor error [100] occurs and a current value change is not made.
(Note)
• This change is made only during a stop. If a current value change is made while
the specified axis is starting, a minor error
corresponding axis is ON) occurs and the current value change is not made.
• If the servo of the corresponding axis is not READY, a major error
occurs and the current value change is not made.
• If the corresponding axis is in a servo error, a major error
the current value change is not made.
For SV22
• The current value change of specified axis is executed in the real mode, and the
current value change of specified servo motor axis is executed in the virtual
mode.
• Set the current value change program of the virtual servo motor shaft within the
virtual mode program No. range set in "K mode allocation" of MT Developer2.
• Set the current value change program of the command generation axis within the
command generation axis program No. range set in "Command generation axis
program allocation setting" of MT Developer2.
• Set the current value change program of the servo motor (output) shaft within the
real mode program No. range.
• If a virtual servo motor shaft current value change is executed in the real mode, a
servo program setting error
made.
• If a servo motor (output) shaft current value change is executed in the virtual
mode, a servo program setting error
change is not made.
• If a current value change is made during mode changing, a servo program setting
error (Note) [907] (real mode
real mode changing) occurs and the current value change is not made.
(Note): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)
Programming Manual (REAL MODE)"/ "Q173D(S)CPU/Q172D(S)CPU Motion
controller (SV22) Programming Manual (VIRTUAL MODE)" for minor error,
major error and servo program setting error.
[101] (start accept signal of the
(Note)
(Note) [903] occurs and the current value change is not
(Note) [904] occurs and the current value
virtual mode changing) or [908] (virtual mode
7 - 16
(Note)
(Note) [1005] occurs and
QDS
[1004]