Servo Programs - Mitsubishi Electric Q172CPU Programming Manual

2 STARTING UP THE MULTIPLE CPU SYSTEM

2.3.3 Servo programs

(1) Servo program area
(a) The same servo program (Kn) No. cannot be used in both the real and virtual
modes. The range of the servo program (Kn) used in the virtual mode must
be set in advance.
(The range is set using a peripheral device which started SW6RN-GSV22P.)
(2) Servo instructions
(a) The home position return, speed control ( ), speed/position switching control
and high-speed oscillation control among the controls which can be used in
the real mode cannot be used in the virtual mode.
(b) Control units of the parameter block and the torque limit value among the
positioning data which can be set using the servo program are not used.
(3) Differences of the servo instruction between real mode and virtual mode are
shown in Table 2.3 below.
Table 2.3 Differences of Servo Instruction List
Speed/position
control
Speed control ( )
Servo
instruction
Home position
return
High-speed
oscillation
Positioning Parameter block
data
(Note) : It is common in the real mode and virtual mode about instructions except for the above
table.
Item
VPF
VPR
VPSTART
VVF
VVR
ZERO
OSC
Control units
Torque limit value
2 - 6
Real Virtual
mode mode
Switch to virtual
mode after home
position return in the
real mode.
Fixed
as
"PLS"
The torque limit
value is set with the
"drive module
parameter".
Remark
: Used
: Unusable
: Not used