Mitsubishi Electric Q172CPU Programming Manual page 142

6 DRIVE MODULE
If the mode is switched from virtual to real mode while the synchronous encoder and connected
output module are operating, the rapid stop occurs at the output module axis, causing a servo
error, and the machine will be subjected to a jolt.
2) When the input pulse is inputted from an external synchronous encoder.
a) The input pulse is started to input from the external synchronous
encoder, when the clutch is switched on.
Real/virtual mode
(Note-1)
switching request flag (M2043)
Real/virtual mode
(Note-1)
switching status flag (M2044)
Input pulse from the external
synchronous encoder
Clutch ON / OFF command
device
External signal(TREN)
Feed current value of the
synchronous encoder axis
b) The control mode
input mode.
Operation of the synchronous encoder and clutch corresponds.
It can be used with the synchronous encoder for the incremental data
method only.
(b) Operation end
1) Operation of the synchronous encoder axis is executed the real/virtual
mode switching request (M2043 : ON
switching to real mode.
2) The procedure for ending operation of the synchronous encoder axis is
shown below.
a) Stop the output module
Stop the external synchronous encoder.
Switch the connected clutch OFF.
b) Switch from the virtual to real mode.
CAUTION
ON
OFF
ON
OFF
Real mode
Virtual mode
ON
OFF
ON
OFF
Operation start of the synchronous encoder
(Note-3)
of a clutch is operation in the case of external
6 - 17
ON
OFF
(2 -1)
31
Operation stop of the
synchronous encoder
(-2 )
31
OFF) and ends at the