9 - 16
9 MOTION CONTROL PROGRAMS
POINT
(1) Current value changing instructions
• When PLC ready flag (M2000) or PCPU ready flag (M9074) is OFF, a minor error
(Note)
[100] occurs and a current value change is not made.
• This change is made only during a stop. If a current value change is made while
the specified axis is starting, a minor error
(Note)
[101] (start accept signal of the
corresponding axis is ON) occurs and the current value change is not made.
• If the servo of the corresponding axis is not READY, a major error
(Note)
[1004]
occurs and the current value change is not made.
• If the corresponding axis is in a servo error, a major error
(Note)
[1005] occurs and
the current value change is not made.
For SV22
• Set the current value change program of the virtual servomotor shaft within the
virtual mode program No. range set in "program mode assignment".
• Set the current value change program of the servomotor (output) shaft within the
real mode program No. range.
• If a virtual servomotor shaft current value change is executed in the real mode, a
servo program setting error
(Note)
[903] occurs and the current value change is not
made.
• If a servomotor (output) shaft current value change is executed in the virtual
mode, a servo program setting error
(Note)
[904] occurs and the current value
change is not made.
• If a current value change is made during mode changing, a servo program setting
error
(Note)
[907] (real virtual changing) or [908] (virtual real changing) occurs
and the current value change is not made.
(Note) : Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (REAL MODE)"/"Q173CPU(N)/Q172CPU(N) Motion
controller (SV22) Programming Manual (VIRTUAL MODE)" for minor error,
major error and servo program setting error.
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