Instruction manual
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5. MECHANICAL SYSTEM PROGRAM....................................................................................... 5- 1 to 5- 4
5.1 Mechanical Module Connection Diagram ........................................................................................ 5- 2
(1) Block ........................................................................................................................................ 5- 3
(2) System ..................................................................................................................................... 5- 3
(3) Transmission module connections .......................................................................................... 5- 3
5.2 Mechanical Module List.................................................................................................................... 5- 4
6. DRIVE MODULE.......................................................................................................................6- 1 to 6-36
6.1 Virtual Servo Motor........................................................................................................................... 6- 1
6.1.1 Virtual servo motor operation .................................................................................................... 6- 1
(1) START procedure ............................................................................................................. 6- 1
(2) Procedure for stopping before completion ........................................................................ 6- 3
(3) Control items ..................................................................................................................... 6- 3
(4) Control change .................................................................................................................. 6- 3
(5) Operation mode when error occurs................................................................................... 6- 4
(6) Virtual servo motor axis continuous operation .................................................................. 6- 5
(7) Reverse return during positioning ..................................................................................... 6- 5
6.1.2 Parameter list ............................................................................................................................ 6- 8
(1) Virtual axis No. setting....................................................................................................... 6- 8
(2) Stroke limit UPPER/LOWER limit settings........................................................................ 6- 8
(3) Command in-position range ............................................................................................. 6-10
(4) JOG speed limit and parameter block settings ................................................................ 6-10
6.1.3 Virtual servo motor axis devices (internal relays, data registers) ............................................. 6-11
(1) Virtual servo motor axis status ......................................................................................... 6-11
(2) Virtual servo motor axis command signals....................................................................... 6-16
(3) Virtual servo motor axis monitor device ........................................................................... 6-21
(4) Current value after virtual servo motor axis main shaft differential gear.......................... 6-23
6.2 Synchronous Encoder..................................................................................................................... 6-25
6.2.1 Synchronous encoder operation............................................................................................... 6-25
(1) Operation START............................................................................................................. 6-25
(2) Operation END ................................................................................................................. 6-26
(3) STOP procedure .............................................................................................................. 6-27
(4) Control items .................................................................................................................... 6-27
(5) Control change ................................................................................................................. 6-27
(6) Operation mode when error occurs.................................................................................. 6-28
6.2.2 Parameter list ........................................................................................................................... 6-29
6.2.3 Synchronous encoder axis device (internal relay, data register).............................................. 6-30
(1) Synchronous encoder axis device.................................................................................... 6-30
(2) Synchronous encoder axis command signal.................................................................... 6-31
(3) Synchronous encoder axis monitor device....................................................................... 6-32
(4) Current value after synchronous encoder axis main shaft differential gear ..................... 6-33
6.3 Virtual Servo Motor / Synchronous Encoder Control Change......................................................... 6-34
6.3.1 Virtual servo motor control change........................................................................................... 6-34
(1) Control change registers .................................................................................................. 6-34
(2) Current value change....................................................................................................... 6-35