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Appendix - 69
Appendices
[3] Precautions during control
(1) Absolute position system (ABS)/Incremental system (INC)
Match the ABS/INC
setting in each setting of VCII series and Simple Motion
module. Otherwise, the warning "VCII series parameter setting error"
(warning code: 126) occurs, and it is controlled by the setting of VCII series
side.
When the infinite length operation is set in "Overflow abnormality detection
select (the 2nd digit of the select function for SSCNET
on communicate
mode)" of VCII series, the unlimited length feed is available. When the
finite length operation is set and "Encoder multiple revolution counter ×
Encoder resolution + Encoder single revolution position" exceeds the
range of -2147483648 to 2147483647, the servo error 61468 (F01CH)
"Absolute encoder over flow error" occurs and the operation stops.
(2) OPR
When "1" is set in the first digit of the parameter of VCII series "Select
function for SSCNET
on communicate mode", it is possible to carry out
the home position return (OPR) without passing the zero point. (Return to
origin after power is supplied will be executed when passing of Motor Z
phase is not necessary.) When "0" is set, the error "OPR zero point not
passed" (error code: 210) occurs because the OPR is executed without
passing the motor Z phase (Motor reference position signal).
(3) Control mode
Control modes that can be used are shown below.
• Position control mode (speed control including position control and position
loop)
• Speed control mode (speed control not including position loop)
• Torque control mode (torque control)
However, it is not available to switch to continuous operation to torque
control mode of expansion control "Speed-torque control". If the mode is
switched to continuous operation to torque control mode, the error
"Continuous operation to torque control not supported" (error code: 550)
occurs and the operation stops.
"1: Feedback torque" cannot be set in "Torque initial value selection (b4 to
b7)" of "[Pr.90] Operation setting for speed-torque control mode". If it is set,
the warning "Torque initial value selection invalid" (warning code: 521)
occurs and the command value immediately after switching is the same as
the case of selecting "0: Command torque".
(4) Servo parameter
(a) Control of servo parameters
Parameters of VCII series are not controlled by Simple Motion module.
Therefore, even though the parameter of VCII series is changed during
the communication between Simple Motion module and VCII series, it
does not reflect to the buffer memory.