Mitsubishi Electric MELSEC Q Series Programming Manual page 612

APPENDICES
2) Servo external signals when using driver home position return method
At driver home position return method home position return, check the
status of the servo external signals. Also check that external signals are
OFF when external signal parameters are not set. For contacts
(normally open contact/normally closed contact), match each setting of
the AlphaStep/5-phase with the servo external signal parameters of MT
Developer2.
Refer to AlphaStep/5-phase instruction manual for details.
(c) Control mode
Control modes that can be used are shown below.
• Position control mode (position control, and speed control including
position loop)
However, speed-torque control (speed control not including position loop,
torque control, continuous operation to torque control) cannot be used. If a
control mode switch is performed, a minor error (error code: 159) occurs.
(d) Servo OFF
The following occurs for 5-phase (open loop control configuration).
1) When servo OFF occurs, if the motor is moved by an external force it is
not possible to detect the position and position information is not updated.
Do not rotate the motors during servo OFF. If the motors are rotated a
position displacement occurs.
2) In a servo OFF state the home position return request turns ON. After
turning servo ON, perform a home position return again.
3) When an encoder is installed, checking position displacement and
maladjustments is possible by monitoring "position F/B" and "external
encoder counter value" in the optional data monitor. Refer to the
instruction manual of AlphaStep/5-phase for the units and increase
direction of the encoder count value, and checking methods.
(e) Servo instructions
Speed control ( ) (VVF instruction, VVR instruction) cannot be used.
If the VVF instruction or VVR instruction are started, a minor error (error
code: 136) occurs.
(f) Servo parameter
1) Control of servo parameters
Parameters of AlphaStep/5-phase are not controlled by Motion CPU.
Therefore, even though the parameter of AlphaStep/5-phase is changed
during the communication between Motion CPU and AlphaStep/5-phase,
it does not process, and is not reflected to the parameter.
2) Servo parameter change function
a) Change function of servo parameter can be executed.
b) When the power of AlphaStep/5-phase is turned OFF, the parameter
changed by the servo parameter change function becomes invalid,
and the value written by AlphaStep/5-phase data editing software
becomes valid.
APP - 121