Instruction manual

6. DRIVE MODULE
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REMARKS
(1) (Note-1): For details regarding the REAL/VIRTUAL mode switching request
flag and the REAL/VIRTUAL mode switching status flag, see
Section 4.1.
(2) For details regarding switching between the REAL and VIRTUAL modes,
see Chapter 9.
(3) (Note-2): The synchronous encoder input START signal is input to the
A273EX/A172SENC "TRA" terminal.
For details regarding the A273EX/A172SENC "TRA" terminal, refer
to the Motion Controller [A173UHCPU/A273UHCPU] User's
Manual.
(4) (Note-3): For details regarding the clutch control mode, see Section 7.2.1.
(3) STOP procedure
The synchronous encoder can be stopped by stopping the external
synchronous encoder.
There are no external inputs (FLS, RLS, STOP), sequence program stop
commands, or rapid stop commands for the synchronous encoder.
(4) Control items
(a) As the synchronous encoder has no feedback pulse, the "deviation counter
value" and "real current value" are not stored in memory.
(b) The synchronous encoder's feed current value is recorded in a backup
memory, and is restored after switching from the REAL to VIRTUAL mode
occurs following a power ON.
1) Operation continuation is possible when the output module is using the
absolute position system. However, if the servo motor for the output
module which is connected to the synchronous encoder is operated while
power is OFF, or if the synchronous encoder is operated while power is
OFF, continuation will become impossible even if the absolute position
system is being used.
If this occurs, a "VIRTUAL mode continuation disabled" warning signal
will switch ON.
To continue operation, the output module's servo motor must be moved
to the position where synchronous operation is possible.
2) If the output module is not using the absolute position system, the feed
current value must be corrected (using the "current value change"
function) after switching from the REAL to the VIRTUAL mode occurs.
(5) Control change
The following synchronous encoder control item can be changed:
• Current value change
Current value changes are executed by the CHGA instruction.
For details regarding the CHGA instructions, see Section 5.3 of the Motion
Controller (SV13/22 REAL Mode) Programming Manual (type A273UH
/A173UH).