Instruction manual

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART
9 − 8
9.4 STOP & RESTART
The basic method for stopping the system (output module) during VIRTUAL mode
operation is to stop the main shaft. If an auxiliary input shaft is being used, that
shaft should also be stopped.
(1) Virtual Axis STOP
The procedures for stopping and restarting the virtual shaft, and the stop
processing details are discussed below. A virtual servo motor axis can be
stopped by the 3 types of stop processing shown below. This processing is also
valid for interpolation axes during interpolation operations.
1. Deceleration to stop.......A deceleration to stop occurs in accordance with
the parameter block's "stop deceleration time"
setting.
2. Rapid stop .....................A deceleration to stop occurs in accordance with
the parameter block's "rapid stop deceleration
time" setting.
3. Immediate stop..............An immediate stop occurs without deceleration.
Because an immediate input stop occurs for synchronous encoder axes,
operation should be executed only after the synchronous encoder axis has
been stopped by an external input, except for abnormal stops such as an
emergency stop or a servo error occurrence, etc.
([Ex]: Switch M2000 OFF, or execute an all-axes servo OFF command, etc.)
(An immediate stop at output modules connected to the synchronous encoder
will result in a servo error, and possibly, a synchronization discrepancy.)
When the stop cause is such that a synchronization discrepancy occurs, a
synchronization discrepancy warning (M2046) will switch ON. In this case, re-
align the axes in the REAL mode, switch M2046 OFF, then continue with the
VIRTUAL mode operation.
The stop procedure/stop causes, and restarting procedure are shown in the
following Table.