Servo On/Off - Mitsubishi Electric MELSEC iQ-R Series User Manual

8.9

Servo ON/OFF

This function executes servo ON/OFF of the servo amplifiers connected to the Motion module.
By establishing the servo ON status with the servo ON command, servo motor operation is enabled.
The following two signals can be used to execute servo ON/OFF.
• All axis servo ON [Y1]
• [Cd.100] Servo OFF command
n: Axis No. - 1
Setting item
[Cd.100] Servo OFF command
A list of the "All axis servo ON [Y1]" and "[Cd.100] Servo OFF command" is given below.
: Servo ON (Servo operation enabled)
: Servo OFF (Servo operation disabled)
Setting item
All axis servo ON [Y1]
When the delay time of "Electromagnetic brake sequence output (PC02)" is used, execute the servo ON to
OFF by "[Cd.100] Servo OFF command". (When all axis servo ON [Y1] is turned ON to OFF, set "1" in
"[Cd.100] Servo OFF command" and execute the servo OFF. Then, turn off [Y1] after delay time passes.)
Refer to each servo amplifier instruction manual for details of servo ON command OFF and ready ON
command OFF from Motion module.
After the initial communication with the servo amplifier completes, the status will not change to servo ON in the following
cases.
• An error "Servo parameter invalid" (error code: 1DC8H) is occurring.
• The current value restoration is not completed.
*1 Refer to the following for details.
Page 658 Devices Compatible with CC-Link IE TSN
*2 After the initial communication with the servo amplifier completes, restoration of current value is performed by the Motion module. Status
of the current value restoration can be checked by the following monitor data.
n: Axis No. - 1
Monitor item
[Md.190] Controller current value
restoration completion status
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Servo ON/OFF
[Cd.100] Servo OFF command
Setting value
"0"

OFF

ON
*2
Monitor
value

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Command to servo amplifier
Servo ON command: OFF
Ready ON command: OFF
Servo ON command: ON
Ready ON command: ON
*1
Storage details
Store the controller current value restoration completion status of a
connected slave device.
If the current value has been restored using the INC restoration method,
"1" is set.
If the current value has been restored using the ABS restoration method,
"2" is set.
If the slave device is disconnected, "0" is set.
Buffer memory address
Axis 1 to axis 16
4351+100n
Setting value Command to servo amplifier
"1"

Servo ON command: OFF
Ready ON command: OFF

Servo ON command: OFF
Ready ON command: ON
8 CONTROL SUB FUNCTIONS
8.9 Servo ON/OFF
8
Buffer memory
address
Axis 1 to axis 16
59327+100n
307