Mitsubishi Electric MELSEC iQ-R16MTCPU - Page 172

170
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.1 Servo Parameter Management
When parameters are updated at the servo amplifier side
When the servo parameters are changed by one of the causes below after communication with the servo amplifier has been
established, the Motion CPU will automatically read the servo parameters and reflect them to the servo parameter storage
area in the Motion CPU.
• The parameters are changed by auto tuning.
• The parameters are changed by connecting directly MR Configurator2 to the servo amplifier.
• If the power supply of Multiple CPU system is turned off/reset or the power supply of servo amplifier is
turned off immediately after change of parameters on the servo amplifier side, changes may not be reflected
to the built-in memory or the servo parameter file.
• If changes are made to the servo parameter file content, and these changes are updated to the servo
parameter open area inside the Motion CPU, any changes made to parameters at the servo will not be
updated to the servo parameter open area inside the Motion CPU until updating of the changed parameter
content to the servo amplifier is complete.
• When changes to the servo parameters need to be reflected to the MT Developer2 project, read the servo
parameters from the Motion CPU and save data.
When the update of the servo parameter file is required
If the content of the servo parameter open area inside the Motion CPU changes, and it is necessary to update the servo
parameter file, the relevant axis bit for the "Servo parameter change flag (RIO)(SD555)", and "Servo parameter change flag
(SD556 to SD559)" will turn ON, and changes will be automatically updated to the servo parameter file the next time the
Multiple CPU system power supply is turned OFF or the system is reset. Furthermore, changes can be updated to the servo
parameter file with a "File transmission request (SD820)". (The relevant axis bit turns OFF when the file update is complete.)
Devices used
Explicit synchronization of servo parameters between areas can be performed with a special register. The special registers
used and update target areas are shown below.
• Servo Parameter Read/Change Function(Page 171 Servo Parameter Read/Change Function)
• File Transfer Function(Page 114 File Transfer Function)
●: Update source, : Update target
Special register Update target
Servo parameter file Servo parameter
open area
Servo amplifier/
Sensing module
Device
Servo parameter write request (SD804) ●
Servo parameter read request (SD804) ● 
File transmission request (SD820) (write)  ● 
File transmission request (SD820) (read) ● 
Axis
16
Axis
1
Axis
15
Axis
14
Axis
13
Axis
12
Axis
11
Axis
10
Axis
9
Axis
8
Axis
7
Axis
6
Axis
5
Axis
4
Axis
3
Axis
2
Axis
601
««««««««
Axis
608
Axis
607
Axis
606
Axis
605
Axis
604
Axis
603
Axis
602
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axis
32
SD556
SD555
SD557
SD558
SD559
Axis
31
Axis
30
Axis
28
Axis
28
Axis
27
Axis
26
Axis
25
Axis
24
Axis
23
Axis
22
Axis
21
Axis
20
Axis
19
Axis
18
Axis
17
Axis
48
Axis
33
Axis
47
Axis
46
Axis
45
Axis
44
Axis
43
Axis
42
Axis
41
Axis
40
Axis
39
Axis
38
Axis
37
Axis
36
Axis
35
Axis
34
Axis
64
Axis
63
Axis
62
Axis
61
Axis
60
Axis
59
Axis
58
Axis
57
Axis
56
Axis
55
Axis
54
Axis
53
Axis
52
Axis
51
Axis
50
Axis
49