7 - 16
7 MOTION CONTROL PROGRAMS
POINT
Current value changing instructions
• When PLC ready flag (M2000) or PCPU READY complete flag (SM500) 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
• The current value change of specified axis is executed in the real mode, and the
current value change of specified servo motor axis is executed in the virtual
mode.
• Set the current value change program of the virtual servo motor shaft within the
virtual mode program No. range set in "K mode allocation" of MT Developer2.
• Set the current value change program of the command generation axis within the
command generation axis program No. range set in "Command generation axis
program allocation setting" of MT Developer2.
QDS
• Set the current value change program of the servo motor (output) shaft within the
real mode program No. range.
• If a virtual servo motor 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 servo motor (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 mode virtual mode changing) or [908] (virtual mode
real mode changing) occurs and the current value change is not made.
(Note): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)
Programming Manual (REAL MODE)"/ "Q173D(S)CPU/Q172D(S)CPU Motion
controller (SV22) Programming Manual (VIRTUAL MODE)" for minor error,
major error and servo program setting error.
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