Справочник Пользователя для Mitsubishi Electronics MR-MC210

7 - 85

7. AUXILIARY FUNCTION

(53) Control mode switch complete

(54) Control mode switch error

Offset Content

0000h Axis

number

0000h Axis

number

0002h Event

code

(0A00h)

0002h Event

code

(0A01h)

0004h Time

stamp

0004h Time

stamp

0006h

0008h

Control mode before switch

0: Position control mode
1: Speed control mode
2: Torque control mode

0008h

Control mode before switch

0: Position control mode
1: Speed control mode
2: Torque control mode

000Ah

Control mode after switch

0: Position control mode
1: Speed control mode
2: Torque control mode

000Ah

Control mode after switch

0: Position control mode
1: Speed control mode
2: Torque control mode

000Ch

0 (fixed value)

000Ch

Switch error cause

0: Zero speed (ZSP) OFF
1: Control mode error
2: Incompatible axis
3: Switch not possible

000Eh 0

(fixed

value)

000Eh 0

(fixed

value)

(55) Mark detection signal detection

(56) Mark detection clear

Offset Content

0000h Axis

number

0000h Axis

number

0002h Event

code

(0B00h)

0002h Event

code

(0B01h)

0004h Time

stamp

0004h Time

stamp

0006h

0008h

Mark detection number

0: Mark detection setting 1
1: Mark detection setting 2

0008h

Mark detection setting number

000Ah

Mark detection edge data

1: OFF edge
2: ON edge

000Ah

0 (fixed value)

000Ch

Data latch

0: No latch
1: Latch

000Ch

0 (fixed value)

000Eh 0

(fixed

value)

000Eh 0

(fixed

value)

(57) Mark detection disable start

(58) Mark detection disable cancel

Offset Content

0000h Axis

number

0000h Axis

number

0002h Event

code

(0B02h)

0002h Event

code

(0B03h)

0004h Time

stamp

0004h Time

stamp

0006h

0008h

Mark detection setting number

0008h

Mark detection setting number

000Ah 0

(fixed

value)

000Ah 0

(fixed

value)

000Ch 0

(fixed

value)

000Ch 0

(fixed

value)

000Eh 0

(fixed

value)

000Eh 0

(fixed

value)