Virtual Servo Amplifier Function - Mitsubishi Electric MELSEC iQ-R Series User Manual

9.6
This function executes the operation virtually without connecting servo amplifiers (regarded as connected). The synchronous
control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous
control. Also, it can be used as simulation operation for axes without servo amplifiers.
Control details
• The servo amplifier is operated as a virtual servo amplifier when the value of "[Pr.101] Virtual servo amplifier setting" is "1:
Use as virtual servo amplifier" immediately after power cycling.
• When the value of "[Pr.101] Virtual servo amplifier setting" is other than "1: Use as virtual servo amplifier" immediately after
power cycling, the servo amplifier is not operated as a virtual servo amplifier even if "[Pr.101] Virtual servo amplifier setting"
in the buffer memory is set to "1: Use as virtual servo amplifier" and the PLC READY signal [Y0] is turned OFF  ON after
power cycling.
• Virtual servo amplifiers are connected with the absolute position detection system enabled. The feed current value and
machine feed value are as follows.
• When the servo amplifier is turned on for the first time as a virtual servo amplifier, the warning "Home position return data incorrect" (warning code: 0D3CH)
occurs, the home position return request turns ON, and the feed current value and feed machine value both become "0". Following this, establishing the
home position and then turning the power OFF  ON causes the address to become the address from the last time that the module power was
disconnected.
Restrictions
• The following monitor data of virtual servo amplifier differ from the actual servo amplifier.
n: Axis No. - 1
Item
[Md.30] External input signal
[Md.102] Deviation counter value
[Md.104] Motor current value
[Md.108] Servo status1
[Md.109] Regenerative load ratio/Optional data
monitor output 1
[Md.110] Effective load torque/Optional data
monitor output 2
[Md.111] Peak torque ratio/Optional data monitor
output 3
[Md.112] Optional data monitor output 4
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Virtual Servo Amplifier Function

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Storage details
When "1: Servo amplifier" is set in "[Pr.116] FLS signal selection",
"[Pr.117] RLS signal selection", and "[Pr.118] DOG signal
selection":
• Lower limit signal (b0): Always ON
• Upper limit signal (b1): Always ON
• Proximity dog signal (b6): Always OFF
Always "0".
Outputs the command torque during torque control and continuous
operation to torque control mode.
• READY ON (b0), Servo ON (b1): Changed depending on the all
axis servo ON [Y1] and "[Cd.100] Servo OFF command".
• Control mode (b2, b3): Indicates control mode.
• Gain switching (b4): Always OFF
• Fully closed loop control switching (b5): Always OFF
• Servo alarm (b7): Always OFF
• In-position (b12): Always ON during Servo ON, always OFF
during Servo OFF
• Torque limit (b13): Changed depending on the command torque
value
• Absolute position lost (b14): Turns ON when the connected
device is not the MR-J5-G at establishment of the home position
when connected to a virtual servo amplifier axis, and turns OFF
when home position return is performed.
• Servo warning (b15): Always OFF
Always "0".
Always "0".
Always "0".
Always "0".
Buffer memory address
Axis 1 to axis 16
2416+100n
2452+100n
2453+100n
2456+100n
2477+100n
2478+100n
2479+100n
2480+100n
2481+100n
9 COMMON FUNCTIONS
9.6 Virtual Servo Amplifier Function
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