Mitsubishi Electric Q Series, Programming Manual

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10 - 8
10 AUXILIARY AND APPLIED FUNCTIONS
(b) When the mode is switched from virtual mode to real mode, return all output
axes to position control mode. If output axis except position control mode
exists when the mode is switched from virtual mode to real mode, an error at
real mode/virtual mode switching (error code: 256) will occur, and the mode
is not switched to real mode.
(3) Stop causes during virtual mode
Operations of stop causes during "speed-torque control" in the output module
during virtual mode are shown below.
Item Operation during speed-torque control mode
The stop command (M3200+20n) turned ON.
The rapid stop command (M3201+20n) turned ON.
Command is ignored, and operation continues.
The external stop input turned ON.
• A major error (error code: 10030) will occur, and related system cannot be started
at virtual servo motor start
• A major error (error code: 11020) will occur, and operation continues for axis
without clutch during command. Operation is controlled based on the operation
mode on error for axis with clutch.
The all axes servo ON command (M2042) turned
OFF.
During virtual mode, OFF of the all axes servo ON command is not accepted, and
the command is ignored.
When the mode is returned to position control mode and switched to real mode,
command status at the time is valid.
Servo OFF command (M3215+20n) turned ON.
• During no-clutch/clutch ON/clutch status ON, a minor error (error code: 6000) will
occur.
• When the control mode is speed control, torque control or continuous operation to
torque control during clutch OFF, servo OFF is not executed. When the mode is
switched to position control mode, command status at the time is valid.
The current value reached to software stroke limit. A minor error (error code: 6030) will occur.
The position of motor reached to hardware stroke
limit
A major error (error code: 11030, 11040) will occur, and operation continues for axis
without clutch. Operation is controlled based on the operation mode on error for axis
with clutch.
The PLC ready flag (M2000) turned OFF.
An error at real mode/virtual mode switching (error code: -4094(F002)) will occur,
and the mode is returned to real mode.
After that, the control mode is switched to position control mode, and the operation
immediately stops.
The forced stop input to Motion CPU.
An error at real mode/virtual mode switching (error code: -4096(F000)) will occur,
and the mode is returned to real mode.
The control mode switches to position control mode at servo OFF.
The emergency stop input to servo amplifier.
• During no-clutch/clutch ON/clutch status ON, a major error (error code: 11010) will
occur, and operation continues for axis without clutch. Operation is controlled
based on the operation mode on error for axis with clutch.
• When the control mode is speed control, torque control or continuous operation to
torque control during clutch OFF, the mode is switched to position control mode at
servo OFF.
The servo error occurred.
An error at real mode/virtual mode switching (error code: -4095(F001)) will occur,
and the mode is returned to real mode.
The control mode switches to position control mode at servo OFF.
The servo amplifier's power supply turned OFF.
• During no-clutch/clutch ON/clutch status ON, a major error (error code: 11010) will
occur, and operation continues for axis without clutch. Operation is controlled
based on the operation mode on error for axis with clutch.
• When the control mode is speed control, torque control, or continuous operation to
torque control during clutch OFF, the mode switches to position control mode at the
servo amplifier's power supply ON again.