Mitsubishi Electric MELSEC-LD77MS2 User Manual page 1022

(4) Control mode
Position control mode position control, and speed control including position
loop can be used. Speed control mode and torque control mode of
expansion control (speed control not including position loop, torque control,
continuous operation to torque control) cannot be used. If a control mode
switch is performed, the warning "Illegal control mode switching" (warning
code: 124) occurs and the switching is not executed.
(5) Servo parameter
(a) Control of servo parameters
Parameters of AlphaStep/5-phase are not controlled by the Simple
Motion module. Therefore, even though the parameter of AlphaStep/5-
phase is changed during the communication between the Simple
Motion module and AlphaStep/5-phase, the change is not applied to
the buffer memory of the Simple Motion module.
(b) Servo parameter change request
Change request of servo parameter ("
" to "
request
Cd.132
parameter of AlphaStep/5-phase is controlled in a unit of 2 words.
However, "1" (1 word write request) and "2" (2 words write request) can
be set in "
Cd.130
Refer to the AlphaStep/5-phase manual for the specification method of
parameters to change.
When the power of AlphaStep/5-phase is turned OFF, the parameter
changed by the servo parameter change request becomes invalid, and
the value written by AlphaStep/5-phase data editing software becomes
valid.
(6) Optional data monitor
The following shows data types that can be set.
Encoder multiple revolution counter
Position feedback (Used point: 2 words)
Encoder position within one revolution (Used point: 2 words)
External encoder counter value (Used point: 2 words)
(7) Gain switching command, PI-PID switching request, and Semi/Fully closed
loop switching request
Gain switching command, PI-PID switching request, and Semi/Fully closed
loop switching request are not available.
(8) Driver communication
The driver communication is not supported.
If the driver communication is set in a servo parameter, the setting is
ignored.
Appendix - 74
") can be executed. The servo
Change data
Servo parameter write request
Data type
Appendices
Servo parameter write
Cd.130
".
Unit
[rev]
[PLS]
[PLS]
[PLS]