Enhanced Current Value Control - Mitsubishi Electric A173UHCPU Programming Manual

8. AUXILIARY AND APPLIED FUNCTIONS
8.11

Enhanced Current Value Control

The following functions have been added to provide enhanced current value control
when the ABS encode is used.
(1) Enhanced functions
(a) Function for checking the validity of an encoder during operation
• Checks whether encoder's variance in a 3.5ms time interval is within 180
degrees at the motor axis. (An error is indicated when the variance is not
within 180 degrees.)
• Checks whether encoder data matches feed-back positions managed by
the servo amplifier. (An error is indicated when the data does not match
the feed-back positions.)
(b) Current value log monitor for checking the following values with peripheral
devices
• Encoder current value, servo commanded value, and monitor current
value at power-on sequence
• Encoder current value, servo commanded value, and monitor current
value at power-off sequence
• Encoder current value, servo commanded value, and monitor current
value at zeroing
(c) If an allowable travel value is set at power-off sequence, whether encoder
data has changed exceeding the setting range at power-off sequence can
be checked at servo amplifier power-on sequence. (An error is indicated
when the encoder data has exceeded the setting range.)
(2) Restrictions on the combinations of positioning operating systems and
positioning software packages
There are the following restrictions depending on whether the permissible travel
value during power-off has been set or not.
Positioning Software
Positioning
Package Ver.
OS Ver.
PC/AT compatible
R or later (Note-1)
V or later
Q or earlier (Note-2)
R or later (Note-1)
U or earlier
Q or earlier (Note-2)
(Note-1): Permissible travel value during power-off can be set.
(Note-2): Permissible travel value during power-off cannot be set.
(Note-3): Since the permissible travel value during power-off cannot be set on the
old version of the positioning software package, a minor error is displayed
but it has no operational problem.
There are no restrictions. (When the old version of the
positioning OS was removed and a new version installed,
always perform a zeroing.)
• Current value log monitor is disabled.
• Since the permissible travel value during power-off cannot
be set, a minor error (error code: 901) occurs at power-on
of the servo amplifier. (Note-3) (When the old version of
the positioning OS was removed and a new version
installed, always perform a zeroing.)
All enhanced function items are unusable.
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Restrictions