Mitsubishi Electric Q172CPU Programming Manual page 129

6 DRIVE MODULE
(3) Stopping method during operation
When the virtual servomotor is stopped during operation after the start, turn the
stop command (M4800+20n)/rapid stop command (M4801+20n) on using the
Motion SFC program.
(There are no external stop causes (STOP, FLS, RLS) for the virtual
servomotor.)
(4) Control items
(a) It is controlled as the virtual servomotor backlash compensation amount "0"
at the positioning control.
(b) The deviation counter value and the real current value are not stored, so that
the virtual servomotor has no feedback pulse.
(c) The feed current value of virtual servomotor is recorded in a backup
memory, and it is restored at the switching from real to virtual mode after the
power supply of the Multiple CPU system turned on.
1) When the output module is using the absolute position system,
continuation operation is possible. However, if the servomotor of the
output module connected to the virtual servomotor is operated while the
power supply of the Multiple CPU system turns off, continuation operation
is impossible even if the absolute position system is being used.
At this time, the virtual mode continuation operation disabled warning
(Note-1)
signal
Set the virtual servomotor or servomotor of output module to the position
which synchronous operation is possible.
2) When the output module is not using the absolute position system, correct
the feed current value of virtual servomotor by the current value change
switching from real to virtual mode.
(5) Control change
The following control changes are possible for the virtual servomotor.
• Current value change
• Speed change
Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (Motion SFC)" for details of the current value change or
speed change.
REMARK
(Note-1) : Refer to Section 4.1.5 (3) for details of the virtual mode continuation
operation disabled warning signal.
turns on.
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