Instruction manual

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 − 5

9.2 Switching from the VIRTUAL to REAL Mode

VIRTUAL to REAL mode switching can be conducted by the user or by the OS.

• By user.........Switch M2043 OFF

• By OS...........Switching occurs automatically when a servo error is detected.

9.2.1 VIRTUAL to REAL mode switching by user

(1) When a VIRTUAL to REAL mode switching request (M2043 ON→OFF)

occurs, the item shown in Table 9.4 is checked.

If normal, switching to the REAL mode will occur. Before switching M2043

OFF, make sure that this item's status is normal.

(2) If an error is detected, M2045 will switch ON, and the error code will be

stored at the D9193 to D9195 register. (See section 11.6)

Table 9.4 Checklist for VIRTUAL to REAL Mode Switching

Check Sequence Check Item

Normal

Condition

Abnormal

Condition

•

Are all axes stopped?(M2001 to M2032 are OFF) YES NO

9.2.2 VIRTUAL to REAL mode switching by OS

(1) If any of the following conditions are detected during VIRTUAL mode operation,

the OS will automatically switch back to the REAL mode.

• When an external emergency stop (EMG) input occurs.

• When the servo error detection signal (M2408+20n) switches ON at any axis.

• When the PLC READY (M2000) signal switches OFF.

• If an alarm occurs in the 24V DC power supply to the A278LX/A172SENC

(major error 15010 occurs) while the servos are ON at all axes and the

A278LX/A172SENC brake has been set for use.

(2) If any of the above conditions occur, the OS will switch back to the REAL mode,

and the resulting error code will be stored in the D9193 to D9195 register.

M2045 will not switch ON at this time.