Instruction manual

1. GENERAL DESCRIPTION
1 − 6
(2) VIRTUAL mode
(a) The VIRTUAL mode is used to execute synchronous processing (with
software) using a mechanical system program comprised of a virtual main
shaft and mechanical module.
This mode permits the synchronous control for conventional positioning by
main shaft, gear, and cam, etc., to be replaced by a servomotor positioning
control format.
(b) In addition to the positioning parameter settings, servo program, and
positioning sequence program used in the REAL mode, the VIRTUAL mode
also requires a mechanical system program.
(c) The procedure for VIRTUAL mode positioning control is as follows.
1) A VIRTUAL mode servo program "start request" is issued with a SVST
instruction in the positioning sequence program.
2) The mechanical system program's virtual servomotor is started.
3) The calculation result from the transmission module is output to the
amplifier module/servo amplifier designated for the output module.
4) Servomotor control is executed.
Servo amplifier
Servomotor
(Axis 1)
Transmission module
(virtual servomotor)
Drive module
Mechanical system program
< K2000>
ABS-1
PCPU Control Range
Output
module
SCPU Control Range
Servo program
VIRTUAL
Axis
Speed
1, 100000
1000
Positioning parameters
Parameter block
Servo parameters
Fixed parameters
System setting
Limit switch output data
2)
3)
4)
Servo amplifier
Servomotor
Sequence program
SVST J1 K2000
1)
Servo System CPU
Zeroing data is not used in the VIRTUAL mode because a zeroing operation is impossible.
(Zeroing occur in the REAL mode.)
VIRTUAL mode JOG operations occur in accordance with the JOG operation data designated
at the drive module parameters.