Mitsubishi Electric Q172CPU Programming Manual page 211

8 OUTPUT MODULE
(5) Control details
(a) The cam feed current value is continued at switching from the real to virtual
mode/from the virtual to real mode.
(b) Backlash compensation processing is continued with the settings value of
fixed parameters, even if switches the real/virtual mode.
(c) Upper/lower stroke limit value and speed limit value are not checked.
(6) Control change
The current value within 1 cam shaft revolution can be changed to optional value
for the cam as the control change during the virtual mode operation.
Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (Motion SFC)" for details of current value change.
Motion SFC program for which executes the current value change (CHGA-C) is
shown below.
Current value change CHGA-C
Current value change
G10
PX000*M2043*M2044*!M2001
K10
CHGA-C
Axis 1, 10000PLS
G20
!PX000*!M2001
END
(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.
[Operation]
Stroke
Change
1000
Current value within 1 cam shaft revolution after the change
Wait until PX000, real/virtual switching request
and switching status turn on, and axis 1 start
accept flag turn off.
Current value within 1 cam shaft revolution
change control
Axis used ............................... Axis 1
Current value to be changed ... 1000[PLS]
Wait until PX000 and axis 1 start accept flag
turn off.
This stroke amount of lower stroke limit is changed
so that the motor may not rotate even if the current
value is changed.
Current value within 1 cam shaft revolution
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