5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.5 Driver Communication Function
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Positioning dedicated device used for positioning control of slave axis
In the slave axis, only the following positioning dedicated devices are valid. Do not use devices other than the following.
■Axis status
• [St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)
*1
• [St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)
• [St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)
*1 Because the slave axis cannot execute home position return, it does not use this in control.
■Axis command signal
• [Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)
• [Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)
■Axis monitor device
• [Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)
• [Md.35] Torque limit value (R: M32014+48n/Q: D14+20n)
■JOG speed setting register
"[Cd.1110] JOG speed setting (R: D35120+2n, D35121+2n/Q: D640+20n, D641+20n)" that apply to the slave axis become
invalid.
■Common device
The following common devices that apply to the slave axis cannot be used. Do not use an interlock.
• [St.1040] Start accept flag (R: M30080+n/Q: M2001+n)
• [St.1047] Speed change accepting flag (R: M30144+n/Q: M2061+n)
• [St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)
• [St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)
• [St.1050] Control loop monitor status (R: M30336+n/Q: M2272+n)
Current position management
• Set "0: Used in incremental system" in " Absolute position detection system (PA03)" of servo parameter for slave axis.
• Because the slave axis is in torque control and operates by input from the master axis, current feed value and deviation
counter are not updated. However, the real current value is updated. (During servo ON, the current feed value is not a value
that reflects the motor movement amount. If servo is turned OFF, the current feed value is a value that reflects the motor
movement amount. The deviation counter is always 0.)
• The "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" of slave axis is always ON but has no
influence on the control of slave axis.
• During slave operation, the following slave axis external signals, and parameters are invalid.
• Do not operate the slave axis by a method other than driver communication with the master axis. If operated by a method
other than driver communication, commands to the servo amplifier become invalid and current feed value and other current
position management cannot be guaranteed.
Servo program
Do not set the slave axis to the start axis of the servo program. When slave axis is started, the position commands to the
servo amplifier become invalid.
• Upper stroke limit signal (FLS)
• Lower stroke limit signal (RLS)
• Stop signal (STOP)
• Upper/lower stroke limit value of fixed parameter
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