Mitsubishi Electric MELSEC iQ-FX5 User Manual page 634

Item
Programming tool
*1 Confirm the specifications of VC series/VPH series for details.
*2 The direct drive DISC series manufactured by Nikki Denso Co., Ltd. can restore the absolute position in the range from -2147483648 to
2147483647. Confirm the specifications of VC series/VPH series for restrictions by the version of VC series/VPH series.
*3 When using the virtual encoder pulse number function of VC series/VPH series, the unlimited length feed is available. When this
function is not used, the unlimited length feed is not available. Confirm the specifications of VC series/VPH series for details of this
function.
*4 The specification of torque limit direction differs by the version of VC series/VPH series. Confirm the specifications of VC series/VPH
series for details.
*5 Refer to each servo amplifier instruction manual for the servo amplifiers that can be used.
*6 It can be monitored when using VPH series.
Precautions during control
■Absolute position system (ABS)/Incremental system (INC)
The setting of ABS/INC operates by the setting of VC series/VPH series.
■Unlimited length feed
When using the virtual encoder pulse number function of VC series/VPH series, the unlimited length feed is available. When
this function is not used, the servo alarm 61468 (F01CH) "Absolute encoder over flow error" occurs after "Encoder multiple
revolution counter  Encoder resolution + Encoder position within one revolution" exceeds the range of -2147483648 to
2147483647, and the operation stops.
■Home position return
When "1" is set in the first digit of the parameter of VC series/VPH series "Select function for SSCNET on communicate
mode", it is possible to carry out the home position return without passing the zero point. (Return to origin after power is
supplied will be executed when passing of Motor Z phase is not necessary.) When "0" is set, the error "Home position return
zero point not passed" (error code: 197AH) occurs because the home position return is executed without passing the motor Z
phase (Motor reference position signal).
When the parameter of VPH series "Marker (zero point/Z-phase) transit selection in communication mode (P800)" is set to
"Zero return operation allowed", it is possible to carry out the home position return without passing the zero point. When "Zero
return operation allowed after the marker is passed" is set, the error "Home position return zero point not passed" (error code:
197AH) occurs because the home position is executed without passing the motor Z phase.
■Control mode
Control modes that can be used are shown below.
• Position control mode (speed control including position control and position loop)
• Speed control mode (speed control not including position loop)
• Torque control mode (torque control)
However, it is not available to switch to continuous operation to torque control mode of expansion control "Speed-torque
control". If the mode is switched to continuous operation to torque control mode, the error "Continuous operation to torque
control not supported" (error code: 19E7H) occurs and the operation stops.
"1: Feedback torque" cannot be set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque
control mode". If it is set, the warning "Torque initial value selection invalid" (warning code: 09E5H) occurs and the command
value immediately after switching is the same as the case of selecting "0: Command torque".
APPENDICES
632
Appendix 2 Compatible Devices with SSCNETIII(/H)
*1
VC series/VPH series
MR Configurator2 is not available.
Use VC/VPH data editing software.
MR-J4(W)-B
MR Configurator2 is available.