Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 7 Memory Configuration and Data Process
(10) Transmitting servo parameter from the buffer memory/internal
memory area to servo amplifier ( )
The servo parameter in the buffer memory/internal memory area is transmitted
to the servo amplifier by the following timing.
1) The servo parameter transmitted to the servo amplifier when
communications with servo amplifier start.
The "expansion parameter" and "servo parameter" in the buffer memory
area is transmitted to the servo amplifier.
2) The following servo parameter in the buffer memory area are transmitted to
the internal memory (nonvolatile) and servo amplifier when the PLC READY
signal [Y0] turns from OFF to ON.
• "Auto tuning mode (PA08)"
• "Auto tuning response (PA09)"
• "Feed forward gain (PB04)"
• "Load to motor inertia ratio/load to motor mass ratio (PB06)"
• "Model loop gain (PB07)"
• "Position loop gain (PB08)"
• "Speed loop gain (PB09)"
• "Speed integral compensation (PB10)"
• "Speed differential compensation (PB11)"
POINT
When the PLC READY signal [Y0] is turned ON, an error (error code: 1205) occurs,
"Rotation direction selection/travel direction selection (PA14)" is changed by
sequence program or the GX Works2 after the servo parameter is transmitted to
servo amplifier (LED of the servo amplifier is indicated b
†
, C
†
, or d
†
).
When "Rotation direction selection/travel direction selection (PA14)" is changed,
transmit the servo parameter to servo amplifier.
About the communication start with servo amplifier
Communication with servo amplifier is valid when following condition is realized
together.
1) The power of QD77MS and servo amplifier is turned ON.
2) When the servo parameter "
Pr.100
Servo series
" inside the buffer memory
area is set to the value other than "0" in QD77MS.
When the power is turned ON or the PLC CPU is reset, the data stored in the
flash ROM/internal memory (nonvolatile) is transmitted to the buffer
memory/internal memory.
Therefore the servo parameter "
Pr.100
Servo series
" inside the internal memory
(nonvolatile) is stored to the value other than "0", and communication with servo
amplifier is started when the power is turn ON in order of the servo amplifier,
QD77MS.
After the servo parameter stored in the internal memory (nonvolatile) is
transmitted to the servo amplifier.