Drive Module; Virtual Servomotor; Operation Description - Mitsubishi Electric Q172CPU Programming Manual

6 DRIVE MODULE

6. DRIVE MODULE
The drive module is the source of drive for the virtual axis (virtual main shaft, virtual
auxiliary input axis).
There are following 2 types drive module.
• Virtual servomotor ....................... Refer to Section 6.1
• Synchronous encoder ................. Refer to Section 6.2

6.1 Virtual Servomotor

The virtual servomotor is used to operate the virtual axis (virtual main shaft, virtual
auxiliary input axis) using the servo program or JOG operation.
Virtual servomotor operation and parameters are shown below.

6.1.1 Operation description

(1) Operation
(2) Starting method
When the virtual servomotor is started, the pulses are transmitted to the virtual
axis (virtual main shaft, virtual auxiliary input axis) by the start conditions.
The transmitted pulses are transmitted to the output module connected via the
transmission module (gear, differential gear, clutch, speed change gear).
The virtual servomotor is started using the servo program or JOG operation.
(a) Start using the servo program
The servo program of Motion SFC program (motion control step) is
executed.
At this time, the start accept flag
turns on.
Example of the Motion SFC program is shown below.
Motion SFC program
Starting method
G10
Wait until PX000 and switching status turn on,
PX000*M2044*!M2001
and axis 1 start accept flag turn off.
K10
1 axis linear positioning control
ABS-1
Axis 1, 10000PLS
Speed 1000PLS/s
Positioning speed . . . . .1000[PLS]
G20
Wait until PX000 and axis 1 start accept flag
!PX000*!M2001
turn on.
END
(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.
REMARK
(Note) : Refer to Section 4.1.9 (2) for details of the start accept flag.
(Note)
(M2001 to M2032) of the starting axis
Used axis . . . . . . . . Axis 1
End address . . . . . .10000[PLS]
6 - 1
Mechanical system program
Virtual servo motor
[Virtual axis1]
Control
6