Mitsubishi MELSEC-Q QD77MS, Руководство пользователя

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Chapter 14 Common Functions
14.7 Amplifier-less operation function
The positioning control of QD77MS without servo amplifiers connection can be
executed in the amplifier-less function. This function is used to debug of user program
or simulate of positioning operation at the start.
The details shown below explain about the "Amplifier-less operation function".
[1] Control details
[2] Restrictions
[3] Buffer memory list
[4] Operation mode switching procedure
[1] Control details
Switch the mode from the normal operation mode (with servo amplifier
connection) to the amplifier-less operation mode (without servo amplifier
connection) to use the amplifier-less operation function.
Operation for each axis without servo amplifier connection as the normal
operation mode can be executed during amplifier-less operation mode. The start
method of positioning control is also the same procedure of normal operation
mode.
The normal operation (with servo amplifier connection) is possible by switching
from the amplifier-less operation mode to the normal operation mode after
amplifier-less operation.
The current value management (current feed value, machine feed value) at the
switching the normal operation mode and amplifier-less operation mode is shown
below.
Current value management at the operation mode switching
"Absolute position
detection system (PA03)"
Normal operation mode
Amplifier-less operation mode
Amplifier-less operation mode
Normal operation mode
"0: Invalid"
The current feed value and machine feed
value are "0".
The current feed value and machine feed
value are "0". (At the communication start to
the servo amplifiers)
"1: Valid"
The amplifier-less operation mode starts with
the address that the servo amplifier's power
supply was finally turned OFF.
However, the OP position is not established in
the normal operation mode, the current feed
value and machine feed value are "0".
The current feed value and machine feed
value are restored according the actual
position of servomotor. (At the communication
start to the servo amplifiers)
However, when the OP position is not
established in the normal operation mode
before switching to the amplifier-less operation
mode, the current feed value and machine
feed value are not restored. Execute the OPR.
When the mode is switched to the normal
operation mode after moving that exceeds the
range "-2147483648(-2
31
) to 2147483647(2
31
-
1) [PLS]" from the actual position of servo
motor during amplifier-less operation mode,
the current feed value and machine feed value
might be not restored correctly.