Mitsubishi Electric MELSEC-Q Series User Manual page 169

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(3) Condition selection at mode switching

Set the valid/invalid of switching conditions for switching control mode.

[RJ010 mode]

0: Switching conditions valid (for switching control mode)

1: Zero speed ON condition invalid (for switching control mode)

[CiA402 mode]

0: Check the switching conditions in Simple Motion module

1: According to the servo amplifier specification

Note) The "Operation setting for speed-torque control mode" is included in detailed

parameters 2, but it will be valid at the rising edge (OFF to ON) of the PLC

READY signal [Y0].

Set as follows to switch the control mode without waiting for the servo motor to

stop. Note that it may cause vibration or impact at control switching.

[RJ0101 mode]

Set "1: Zero speed ON condition invalid (for switching control mode)" to "Condition

selection at mode switching (b12 to b15)".

[CiA402 mode]

Set "1: According to the servo amplifier specification" to "Condition selection at

mode switching (b12 to b15)". When using MR-J4-GF, set "1: Disabled" in "ZSP

disabled selection at control switching" of the servo parameter "Function selection

C-E (PC76)".

[Pr.95] External command signal selection

Set the external command signal.

0: Not used ........ External command signal is not used.

1: DI1 ................. DI1 is used as external command signal.

2: DI2 ................. DI2 is used as external command signal.

3: DI3 ................. DI3 is used as external command signal.

4: DI4 ................. DI4 is used as external command signal.

Note) The "External command signal selection" is included in detailed parameters

2, but it will be valid at the rising edge (OFF to ON) of the PLC READY

signal [Y0].

Same external command signal can be used in the multiple axes.

Chapter 5 Data Used for Positioning Control