Current Value After Virtual Servomotor Axis Main Shaft's Differential Gear - Mitsubishi Electric Q172CPU Programming Manual

4 POSITIONING DEDICATED SIGNALS

4.2.4 Current value after virtual servomotor axis main shaft's differential gear

(1) Current value after virtual servomotor axis main shaft's differential
gear storage register (D806+10n, D807+10n)
Differential gear is connected with the main shaft.
Virtual
servomotor
Differential gear is not connected with the main shaft.
Virtual
servomotor
(a) The current value will be the same as the drive module current value of the
main shaft side at the virtual mode switching.
(b) When the current value change is executed toward the drive module current
value of the main shaft side, the current value afte main shaft's differential
gear is also simultaneous changed to the specified current value.
(c) If the differential gear is not connected with the main shaft, drive module
feed current value of the main shaft side is always stored in the current
value storage register after main shaft's differential gear.
REMARK
(Note-1) : In the above descriptions, "n" in "D806+10n", "D807+10n" indicates a
value corresponding to axis No. such as the following tables.
Axis No. n
1 0
2 1
3 2
4 3
5 4
6 5
7 6
8 7
• Calculate as follows for the device No. corresponding to each axis.
(Example) For axis 32
D806+10n = D806+10 31 = D1116
• The range (n = 0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).
Differential-
gear
Current value after virtual servomotor
axis main shaft's differential gear
Virtual servomotor
or
Synchronous encoder
Current value after virtual servomotor
axis main shaft's differential gear
Axis No. n Axis No.
9 8
10 9
11 10
12 11
13 12
14 13
15 14
16 15
4 - 70
(Note-1)
.............. Monitor device
n Axis No.
17 16 25
18 17 26
19 18 27
20 19 28
21 20 29
22 21 30
23 22 31
24 23 32
n
24
25
26
27
28
29
30
31