Mitsubishi Electric Q Series Programming Manual page 154

6 DRIVE MODULE
If the mode is switched from real mode to virtual mode in the state of clutch ON, use the smoothing
clutch. If the direct clutch is used and the mode is switched from real mode to virtual mode in the state
of clutch ON, the rapid acceleration occurs at the output module axis, causing a servo error, and the
machine will be subjected to a jolt.
CAUTION
2) When the input pulse is inputted from an external synchronous encoder.
(Note-4)
a) The input pulse is started to input from the external synchronous
encoder, when the clutch is switched on in virtual mode.
Real mode/virtual mode
(Note-1)
switching request flag (M2043)
Real mode/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
[PLS]
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 connected to Q173DPX only.
(b) Operation end
1) Operation of the synchronous encoder axis is executed the real
mode/virtual mode switching request (M2043 : ON
the 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 mode to real mode.
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Operation start of the synchronous encoder axis
(Note-3)
of a clutch is operation in the case of external
(Note-4)
6 - 15
ON
OFF
(2 -1)
31
Operation stop of the
synchronous encoder axis
(-2 )
31
OFF) and ends at