Mitsubishi Electric MELSEC Q Series Programming Manual page 621

APPENDICES
(i) Amplifier-less operation
Amplifier-less operation cannot be used for axes connected to IAI electric
actuator controller. When amplifier-less operation is executed, the axis
changes to a disconnected state, and servo ready does not turn ON.
(j) Driver communication
The driver communication is not supported. If the driver communication is
set in a servo parameter, a major error (error code: 1363) will occur when
the power of Multiple CPU system is turned ON.
(k) Monitor devices (#8000 to #8639)
1) Servo amplifier type (#8000+20n)
This register stores the servo amplifier types below when using IAI
electric actuator controller.
• 8193 ............... IAI electric actuator controller
2) Motor current value (#8001+20n) is always "0".
(l) Torque limit
The torque limit value set by the Motion CPU is ignored. Set the torque limit
value with the parameter on the IAI electric actuator controller side.
(m) In-position range
When the position of the cam axis is restored during virtual mode switching
or in advanced synchronous control, a check is performed by the servo
parameter "In-position range (PA10)". However, because the servo
parameter settings are not performed in IAI electric actuator controller, the
"In-position range" is checked as 100[pulse].
(n) Operation cycle
For each operation cycle, the following number of axes per controller can be
set. When the number of axes is more than what can be set, and an
operation cycle other than those below is set, a major error (error code:
1350) occurs.
Operation cycle
0.22ms or longer
0.44ms or longer
0.88ms or longer
(6) IAI electric actuator controller detection error
When an error occurs on IAI electric actuator controller, the servo error detection
signal (M2408+20n) turns ON. Also, when an error occurs during home position
return by driver home position return method, "Driver operation alarm (b9)" of
servo status7 (#8018+20n) turns ON. Eliminate the error cause, reset the servo
amplifier error by turning ON servo error reset command (M3208+20n) and
perform re-start.
However, "0" is always stored in parameter error No. (#8009+20n).
Refer to the instruction manual of IAI electric actuator controller for details of the
errors.
(IAI Corporation make)
Number of axes per controller available
APP - 130
1 to 2 axes
3 to 4 axes
5 axes or more