Mitsubishi MELSEC-Q QD77MS, Руководство пользователя

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Chapter 11 Manual Control
Restricted items
A manual pulse generator is required to carry out manual pulse generator
operation.
Precautions during operation
The following details must be understood before carrying out manual pulse
generator operation.
(1) The speed during manual pulse generator operation is not limited by the
"
Pr.8
Speed limit value".
(2) If the "
Cd.21
Manual pulse generator enable flag" is turned ON while the
QD77MS is BUSY (BUSY signal ON), a warning will occur (warning code 100:
start during operation).
(3) If a stop factor occurs during manual pulse generator operation, the operation
will stop, and the BUSY signal will turn OFF.
At this time, the "
Cd.21 Manual pulse generator enable flag" will be left ON,
but manual pulse generator operation will not be possible. To carry out manual
pulse generator operation again, measures must be carried out to eliminate
the stop factor. Once eliminated, the operation can be carried out again by
turning the "
Cd.21 Manual pulse generator enable flag" ON OFF ON.
(Note that this excludes hardware/software stroke limit error.)
(4) Command will not be output if an error occurs when the manual pulse
generator operation starts.
Important
The speed command is issued according to the input from the manual pulse
generator irrelevant of the speed limit setting.
When the speed command is larger than 62914560pps (63Mpps), a servo error
"Command frequency error (error code: 2035)" will occur.
The following calculation formula is used to judge whether or not an error will occur.
(Speed command) =
Manual pulse
generator 1
pulse input
magnification Manual pulse
generator 1
pulse movement
amount
Number of pulses per rotation
Movement amount per rotation
Number of
input pulses
for one
second
If a large value is set to the manual pulse generator 1 pulse input magnification,
there is a high possibility of a servo error "Command frequency error (error code:
2035)" occurrence. Note that the servomotor does not work rapidly by sudden
pulse input even if the servo error will not occur.
REMARK
•
One QD77MS module can be connected to one manual pulse generator.
•
The QD77MS module can simultaneously command to servo amplifier (QD77MS2:
Axis 1 to 2, QD77MS4: Axis 1 to 4, QD77MS16: Axis 1 to 16) by one manual pulse
generator.
(Simultaneous operation (QD77MS2: 1 axis to 2 axes, QD77MS4: 1 axis to 4 axes,
QD77MS16: 1 axis to 16 axes) is possible.)