Mitsubishi Electric MELSEC Q Series Programming Manual page 78

3 POSITIONING DEDICATED SIGNALS
(12) PI-PID switching command (M3217+20n)
This signal is used to change the PI-PID switching of servo amplifier in the
Motion controller by the PI-PID switching command ON/OFF.
• ON .............. PI-PID switching command ON(PID control)
• OFF ............ PI-PID switching command OFF(PI control)
Refer to the "Servo amplifier Instruction Manual" for details of PI-PID
switching function.
(13) Control loop changing command (M3218+20n)
When using the fully closed loop control servo amplifier, this signal is used to
change the fully closed loop control/semi closed loop control of servo
amplifier in the Motion controller by the control loop changing command
ON/OFF.
• ON .............. During fully closed loop control
• OFF ............ During semi closed loop control
Fully closed loop
control change
Control loop
OFF
changing command
(M3218+20n)
Control loop
OFF
monitor status
(M2272+n)
Refer to the "Servo amplifier Instruction Manual" for details of control loop
changing function.
POINTS
(1) When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if
the control loop changing command is turned ON/OFF, the command becomes
invalid.
(2) When the following are operated during the fully closed loop, it returns to the
semi closed loop control.
(a) Power supply OFF or reset of the Multiple CPU system
(b) Wire breakage of the SSCNET cable between the servo amplifier and
Motion controller
(c) Control circuit power supply OFF of the servo amplifier
.......................... Command signal
.......................... Command signal
ON
ON
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QDS
Semi closed loop
control change