Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 194

Control details
Operation of virtual servo amplifier is shown below.
Item
Servo amplifier type
Servo amplifier status
Servo amplifier external
signal
(At the setting valid)
Home position return
Absolute position system
Operation using
MR Configurator2
Optional data monitor
Driver communication
Connect/disconnect
function
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
192
5.4 Virtual Servo Amplifier Function
Operation
All axes with a virtual servo amplifier connected are connected with the following type.
• Servo amplifier: MR-J4-10B
• Servo motor: HG-KR053
• Deviation counter value
Always 0
• Motor speed
Motor speed for the command
• Motor current value
Turns "0" immediately after Multiple CPU system power supply ON. (The motor current value can be emulated while using a
virtual servo amplifier by changing the "[Md.104] Motor current (R: D32020+48n/Q: #8001+20n)" using the user program.)
• Servo ready signal
This signal changes depending on the status of "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" or "[Rq.1155]
Servo OFF command (R: M34495+32n/Q: M3215+20n)" of each axis.
• Torque limiting signal
This signal turns ON by the following condition.
|Motor current value|Torque limit value
*: When the positive direction and negative direction of torque limit values are set individually, CHGT instruction is as follows.
|Motor current value|Positive direction torque limit or Negative direction torque limit value
• Zero pass signal
Always ON
Each signal is shown below immediately after Multiple CPU system power supply ON or reset.
• [St.1071] External signals FLS (R: M32411+32n/Q: M2411+20n): Normal open: OFF/Normal close: ON
• [St.1072] External signals RLS (R: M32412+32n/Q: M2412+20n): Normal open: OFF/Normal close: ON
• [St.1074] External signals DOG/CHANGE (R: M32414+32n/Q: M2414+20n): Normal open: OFF/Normal close: ON
The servo amplifier external signals can be operated while using virtual servo amplifier by turning ON/OFF the "[St.1071] External
signals FLS (R: M32411+32n/Q: M2411+20n)", "[St.1072] External signals RLS (R: M32412+32n/Q: M2412+20n)" or "[St.1074]
External signals DOG/CHANGE (R: M32414+32n/Q: M2414+20n)" using the user program.
All home position return methods can be used.
The absolute position is controlled as the normal servo amplifier connection.
■Immediately after Multiple CPU system power supply ON or reset.
The absolute position is restored by the saved absolute position data. The absolute position is restored as the travel value "0"
during the servo amplifier's power supply OFF.
■During virtual servo amplifier operation
Suppose the servo motor operated during virtual servo amplifier operation, and the absolute position data is refreshed.
Online operation and monitor of the servo amplifiers cannot be executed.
Only the following data types are possible. The other monitor values are "0".
■Registered monitor
• Position F/B
• Encoder position within 1 revolution
• Encoder multi-revolution counter
• Cumulative current value
• Servo command value
• Torque command
■Transient command
• Home position [command unit]
• LED display
When driver communication is set to an axis set to virtual servo amplifier, the virtual servo amplifier does not operate as a master
axis or slave axis. Do not set driver communication.
When a disconnect command is set to an axis set to virtual servo amplifier, "SSCNET control (status)(SD508)" does not change to
"-1: Execute waiting" and returns to "0: Command accept waiting".
A disconnect command to another axis will not disconnect the virtual servo amplifier.