APP - 92
APPENDICES
(c) Control mode
QDS
Control modes that can be used are shown below.
• Position control mode (position control, and speed control including
position loop)
• Speed control mode (speed control not including position loop)
• Torque control mode (torque control)
However, it is not available to switch to continuous operation to torque
control mode of "Speed-torque control". If the mode is switched to
continuous operation to torque control mode, a minor error (error code: 318)
occurs and the operation stops.
"1: Feedback torque" cannot be set in "Torque initial value selection at
control mode switching". If it is set, a minor error (error code: 154) occurs
and the command value immediately after switching is the same as the case
of selecting "0: Command torque".
(d) Servo parameter
1) Control of servo parameters
Parameters of VC
series/VPH series are not controlled by Motion CPU.
Therefore, even though the parameter of VC
series/VPH series is
changed during the communication between Motion CPU and VC
series/VPH series, it does not process, and is not reflected to the
parameter.
2) Servo parameter change function
QDS
a) Change function of servo parameter can be executed.
The following is the operation for the servo parameter change
function.
Operation for the servo parameter change function
Servo
parameter
write request
The servo parameter of VC
series/VPH series is controlled in a unit of 2 words, so that it is
necessary to set "3: 2 words write request" in servo parameter write/read request (SD804)
for executing the parameter write. If "1: write request" is executed to VC
series/VPH
series, the parameter write fails, and "-1" is stored in servo parameter write/read request
(SD804).
Servo
parameter read
request
The servo parameter of VC
series/VPH series is controlled in a unit of 2 words, so that it is
necessary to set "4: 2 words read request" in servo parameter write/read request (SD804)
for executing the parameter read. If "2: read request" is executed to VC
series/VPH
series, the parameter read fails, and "-1" is stored in servo parameter write/read request
(SD804).
b) When the servo parameter of VC
series/VPH series is changed by
the servo parameter change function, the parameter value after
changing the servo parameter cannot be confirmed using VC
/VPH
data editing software. When confirming the parameter value,
execute the servo parameter read request. Also, when the power of
VC
series/VPH series is turned OFF, the parameter changed by
the servo parameter change function becomes invalid, and the value
written by VC
/VPH data editing software becomes valid.
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