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Chapter 11 Manual Control
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A manual pulse generator is required to carry out manual pulse generator
operation.
Precautions during operation
The following details must be understood before carrying out manual pulse
generator operation.
(1) The speed during manual pulse generator operation is not limited by the
"[Pr.8] Speed limit value".
(2) If "[Cd.21] Manual pulse generator enable flag" is turned ON while the Simple
Motion module is BUSY (BUSY signal ON), the warning "Start during
operation" (warning code: 100) will occur.
(3) If a stop factor occurs during manual pulse generator operation, the operation
will stop, and the BUSY signal will turn OFF.
At this time, "[Cd.21] Manual pulse generator enable flag" will remain ON.
However, manual pulse generator operation will not be possible. To carry out
manual pulse generator operation again, measures must be carried out to
eliminate the stop factor. Once eliminated, the operation can be carried out
again by turning "[Cd.21] Manual pulse generator enable flag" ON
OFF
ON.
(Note that this excludes hardware/software stroke limit error.)
(4) Command will not be output if an error occurs when the manual pulse
generator operation starts.
Important
The speed command is issued according to the input from the manual pulse
generator irrelevant of the speed limit setting.
When the speed command is larger than 62914560 [PLS/s], the servo alarm
"Command frequency error" (alarm No: 35) will occur.
The following calculation formula is used to judge whether or not an error will occur.
(Speed command) =
Manual pulse
generator 1
pulse input
magnification
Manual pulse
generator 1
pulse movement
amount
Number of pulses per rotation
Movement amount per rotation
Number of
input pulses
for one
second
If a large value is set to the manual pulse generator 1 pulse input magnification,
there is a high possibility of the servo alarm "Command frequency error" (alarm No:
35) occurrence. Note that the servomotor does not work rapidly by sudden pulse
input even if the servo alarm does not occur.
REMARK
One Simple Motion module can be connected to one manual pulse generator.
The Simple Motion module can simultaneously command to servo amplifier
(QD77MS2: Axis 1 to 2, QD77MS4: Axis 1 to 4, QD77MS16: Axis 1 to 16) by one
manual pulse generator.
(Simultaneous operation (QD77MS2: 1 axis to 2 axes, QD77MS4: 1 axis to 4 axes,
QD77MS16: 1 axis to 16 axes) is possible.)