Motion Control In Sv22 Virtual Mode - Mitsubishi Electric Melsec Q Series Programming Manual

2 STRUCTURE OF THE MOTION CPU PROGRAM

2.2 Motion Control in SV22 Virtual Mode

<PLC CPU>
Sequence program
DP.SFCS
Start request
instruction of
the Motion
SFC program
(Note-1): The Motion SFC program can also be started
automatically by parameter setting.
• Home position return data is not used, since home position return cannot be
performed in virtual mode.
(Home position return is executed in real mode.)
• JOG operation in virtual mode is controlled using the JOG operation data set
by drive module parameters.
(1) Software-based synchronous control is performed using the mechanical system
program constructed by virtual main shaft and mechanical module in (SV22)
virtual mode.
(2) Mechanical system programs is required in addition to the positioning parameter,
servo program/Motion SFC program used in real mode.
(3) The procedure of positioning control in virtual mode is shown below:
1) Motion SFC program for virtual mode is requested to start using the
D(P).SFCS instruction of the sequence program.
(Motion SFC program can also be started automatically by parameter setting.)
2) The virtual servo motor in the mechanical system program is started.
3) Output the operation result obtained through the transmission module to the
servo amplifier set as the output module.
4) The servo motor is controlled.
Program structure in SV22 virtual mode
<Motion CPU>
1)
K0
Specification of
starting program
No.
Motion SFC program
Transfer
[G200]
M2044//on virtual mode?
Servo program
[K100: virtual]
1 VF
Axis 1
Speed # 0 pulse/s
END
Positioning control parameters
System settings
Fixed parameters
Servo parameters
Parameter blocks
Limit switch output data
2 - 3
Mechanical system program
Drive module
(Virtual servo motor)
Transmission module
2)
(Axis 1)
Output module
3)
Servo amplifier Servo amplifier
4)
Servo motor
3)
4)
Servo motor