Mitsubishi Electric Q172CPU Programming Manual page 172

7 TRANSMISSION MODULE
(o) When the "Clutch OFF" is set in the parameter "Error-time operation mode"
of drive module and a major error occurs in the output module, the operating
system software turns off the clutch.
The procedure to resume an operation after an error occurrence is shown
below.
1) Remove a major error factor.
2) Turn the clutch ON/OFF command device off.
It returns to normal state.
3) Turn the clutch ON/OFF command device on.
The clutch control of one-shot mode is resumed.
(p) The procedure to execute the axis servo ON/OFF or power supply OFF of
servo amplifier during operation is shown below.
1) Turn the clutch ON/OFF command device off, when the clutch status is
ON state, wait until the clutch status becomes OFF.
After the clutch status to be set to OFF state, the axis servo OFF
command becomes valid.
2) Execute the axis servo OFF command or the power supply OFF of servo
amplifier off.
(q) The procedure to resume an operation after the axis servo OFF or the power
supply OFF of servo amplifier during operation is shown below.
1) Turn the power supply of servo amplifier on.
2) Execute the axis servo ON command.
3) Turn the clutch ON/OFF command device on.
The clutch control of one-shot mode is resumed.
(5) External input mode
(a) The clutch ON/OFF control is executed by turning the clutch ON/OFF
command device on/off and external input (TREN signal: Synchronous
encoder start signal).
Since the input pulses from synchronous encoder are counted by turning the
external input off to on, a high-speed response and high accuracy clutch
control is possible.
1) The clutch is set to the ON state by turning the external input off to on
(OFF
2) When the clutch ON/OFF command device turns off, the clutch is set to
the OFF state after maximum 2 operation cycles.
(b) Turn the external input (TREN signal) on after turning the clutch ON/OFF
command device on.
In this mode, a time for maximum 2 operation cycles is required to turn the
external input on after the clutch ON/OFF command device turns on.
1) If the external input turns from off to on when the clutch ON/OFF
command device is OFF, the clutch is not set to the ON state.
ON) after the clutch ON/OFF command device turns on.
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