Slave Emulate; Relevant Variables; Setting Procedures; Operation During Emulate Function - Mitsubishi Electric MELSEC iQ-R Series User Manual

12.3

Slave Emulate

Slave emulate function controls axes on the real axis without connecting to the slave station.
When using emulate function, even if the slave station is not connected, the axis can be operated virtually (regarded as it is
connected). This function enables to debug the user program at the start-up of the device or verify the positioning operation.
Emulate function can be used on real axes (regardless of the axis type).
Emulate function simulates the cyclic communication and the transient communication of the slave device. The operations
unique to the slave device can be simulated by installing emulate models corresponding to each slave device as add-ons.
Emulate function can be used according to the following table.
: Operation possible, : Operation impossible
Module operation mode setting
*1
Online mode
*1 For details, refer to the following.
MELSEC iQ-R Motion Module User's Manual (Network)

Relevant variables

Variable/Structure name
AxisName.PrConst.
SlaveEmulate_Enable
AxisName.Md.
SlaveEmulate_Enable

Setting procedures

This section explains the procedures to carry out the emulate setting of the real drive axis.
1.
Set the real drive axis in the engineering tool, and start up the motion system.
2.
Set the real drive axis to use it as the emulate axis in the engineering tool.

Operation during emulate function

The values of the set position and the feed machine position at connection are as shown below.
• When the "absolute position detection system" is "invalid".
Both the cumulative current position and the feed machine position are "0". (The set position is according to the ring counter
setting)
• When the "absolute position detection system" is "valid".
When the home position has been established, those are the address when the module power was disconnected most
recently.
When the home position has not been established, both the cumulative current position and the feed machine position are "0".
(The set position is according to the ring counter setting)

Precaution

When executing the all axes emulate switching, it takes time to complete.
12 COMMON FUNCTIONS
370
12.3 Slave Emulate
Emulate function
Switches valid/invalid

Name
Slave Emulation Enabled
Slave Emulating
Start up as an emulate axis

Details
Sets whether the axis is used as an emulate axis.
FALSE: Invalid
TRUE: Valid
Becomes TRUE when driver emulate operation is in execution.
FALSE: Invalid
TRUE: Valid