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12 DATA USED FOR POSITIONING CONTROL
12.9 Memory Configuration and Data Process
■Servo parameter of the buffer memory/internal memory
The followings show details about the operation timing and details at transmitting the servo parameter of the buffer memory/
internal memory.
• When the servo parameter is written in the internal memory (nonvolatile), it is unnecessary to use a setup
from the program/engineering tool.
• Axis connection time varies depending on the number of axes and the servo amplifier's power supply ON
timing. And, time when "20: Servo amplifier has not been connected/servo amplifier power OFF" is set in
"[Md.26] Axis operation status" is also varies.
• When the servo amplifier's power supply is turned ON before the system's power supply ON and the servo network
composition parameter "[Pr.100] Connected device" "0" is stored in the internal memory (nonvolatile)
• When the servo amplifier's power supply is turned ON before the system's power supply ON and the servo network
composition parameter "[Pr.100] Connected device" = "0" is stored in the internal memory (nonvolatile)
Communication start timing with the servo
amplifier
Initialization completion ((A) in the following figure)
Servo parameter to be transferred The data stored (backed up) in the internal memory (nonvolatile).
Communication start timing with the servo
amplifier
The PLC READY signal [Y0] is turned ON from OFF. ((B) in the following figure)
Servo parameter to be transferred The data written from the program/engineering tool before the PLC READY signal [Y0] ON. ((A) in the
following figure)
RD77MS
power ON
Initialization completion
of RD77MS (A)
Buffer memory/
internal memory
data setting
Axis connection completion
Indefinite value
0 (Standby) 20 (Servo amplifier has not been connected/servo amplifier power OFF)
[Md.26] Axis operation status
21 (Servo OFF)
Servo parameter of buffer
memory/internal memory
Communication operation
status with servo amplifier
During communicationCommunication start (Axis connection)Communication invalid
Value of internal memory (nonvolatile)
Transfer the servo parameter at this point to the servo amplifier
Indefinite value
RD77MS
power ON
Initialization
completion
of RD77MS
Communication start valid
0 (Standby)
20 (Servo amplifier has not been connected/servo amplifier power OFF)
[Md.26] Axis operation
status
21 (Servo OFF)
Servo parameter of
buffer memory/
internal memory
Communication
operation status
with servo amplifier
Buffer memory/
internal memory
data setting
CPU module
RUN
Axis connection completion
During communicationCommunication start (Axis connection)
Servo parameter setting from
the program/engineering tool (A)
PLC READY signal
[Y0] OFF
→
ON (B)
Communication invalid
READY [X0]
PLC READY [Y0]
Value of internal memory (nonvolatile)
Transfer the servo parameter at this point to the servo amplifier
Write value by the program/engineering tool
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