6 COMMUNICATION FUNCTIONS
6.6 Test Mode
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Differences between normal operation and test operation
The differences between normal operation and multi-axis test operation are shown below.
Parameters used during test mode
During test mode, multi-axis test operation is performed using the parameters set in the test screen of MT Developer2.
Parameter settings
The parameters set for performing JOG operation and positioning operation are shown below.
• The set values of parameters other than those above (advanced S-curve acceleration/deceleration,
deceleration processing on STOP input, allowable error range for circular interpolation, bias speed at start)
are default values during test mode.
• When JOG operation or positioning operation is executed during test mode and the torque limit value of the
test mode operation axis is changed, the torque limit value does not change back until it is reset by Motion
SFC program, or Motion dedicated PLC instruction.
Normal operation Multi-axis test operation
JOG operation JOG operation is executed based on the set values of
JOG operation data and positioning dedicated signals.
JOG operation is executed based on the set values in
JOG operation on the test screen.
Home position
return
Proximity dog
Dog cradle method
When home position return retry function is not set and
home position return is performed again, a minor error
(error code: 197BH) occurs, and home position return is
not performed.
Regardless of the home position retry function setting,
home position return can be performed again after home
position return completion.
Stopper method
Dogless home
position signal
reference method
If home position return is performed again after home
position return completion, a minor error (error code:
197BH) occurs, and home position return is not
performed.
Home position return can be performed again after home
position return completion.
Current value change Current value change is executed based on the set
values in the servo program.
Current value change is executed based on the set
values in current value change on the test screen.
Positioning operation Positioning operation is executed based on the set
values in the servo program.
Positioning operation is executed based on the set
values in positioning operation on the test screen.
Parameter
JOG operation Basic setting JOG operation
Acceleration time constant
Deceleration time constant
Rapid stop deceleration time constant
Application setting S-curve ratio
Torque limit value
Stroke limit valid/invalid setting
Positioning control Basic setting Command speed
Travel value
Acceleration time constant
Deceleration time constant
Rapid stop deceleration time constant
Application setting S-curve ratio
Torque limit value
Stroke limit valid/invalid setting
Operation permission for home position return incompletion
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