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Chapter 14 Common Functions
(3) Operation chart
The following drawing shows the operation for the switching of the normal
operation mode and amplifier-less operation mode
[QD77MS4 operation example]
0000h 0000h
1
ABCDh
0 0
V
t
READY signal
[X0]
PLC READY signal
[Y0]
BUSY signal [XC to XF]
Cd.137 Amplifier-less operation
mode switching request
Md.51
Amplifier-less operation
mode status
Each operation
Normal operation
mode
Amplifier-less operation mode
Normal operation
mode
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
POINT
(1) Switch the "normal operation mode" and "amplifier-less operation mode" after
confirming the all input signals except synchronization flag [X1] OFF. When
switching the normal operation mode and amplifier-less operation mode in the
status that any one of input signals except the synchronization flag [X1] is ON,
the error "Error when switching from normal operation mode to amplifier-less
operation mode" (error code: 808) or "Error when switching from amplifier-less
operation mode to normal operation mode" (error code: 809) will occur, and the
switching of operation mode will not execute.
(2) When the operation mode is switched with the servo amplifiers connected, the
communication to the servo amplifiers is shown below.
• At switching from normal operation mode to amplifier-less operation mode:
The communication for all axes during connection is disconnected.
(The servo amplifier LED indicates "AA".)
• At switching from amplifier-less operation mode to normal operation mode:
The communication to the servo amplifiers during connection is started.
(3) Even if the servo amplifiers are not connected, the switching of operation mode
is possible.
(4) The forced stop is invalid regardless of the setting in "[Pr.82] Forced stop
valid/invalid selection" during the amplifier-less operation mode.
(5) Only "0000h" and "ABCDh" are valid for the "[Cd.137] Amplifier-less operation
mode switching request". The switching to amplifier-less operation mode can be
accepted only when "[Cd.137] Amplifier-less operation mode switching request"
is switched from "0000h" to "ABCDh". The switching to normal operation mode
can be accepted only when "[Cd.137] Amplifier-less operation mode switching
request" is switched from "ABCDh" to "0000h".