Instruction manual

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART
9 10
Error Set Output Module Operation
Operation
Continuation
ENABLED
(
!
)/
DISABLED
(
×
××
×
)
Restarting after a Stop
Deceleration to stop based on
smoothing time constant.
!
Resume operation by switching the stop command OFF (not
necessary when ON) and executing a START.
Deceleration to stop based on
smoothing time constant.
!
Resume operation by switching the stop command OFF (not
necessary when ON) and executing a START.
After a deceleration to stop based
on the smoothing time constant, the
servo OFF status is established.
!
Resume operation by turning all clutches OFF
all axes
servo ON
clutch ON.
(However, there must be no motor movement during the
servo OFF status. Moreover, clutch OFF/ON switching
occurs only as required by the user.)
For synchronous encoder axes, switch to the REAL mode,
then back to the VIRTUAL mode to resume inputs.
Minor error
(200) set
(virtual axis)
Deceleration to stop based on
smoothing time constant.
!
After PLC READY (M2000) switches ON, execute a REAL
to VIRTUAL mode switching request (M2047 ON) to enable
operation.
Minor error
(200) set
(virtual axis)
Deceleration to stop based on
smoothing time constant.
!
After a servo system CPU "RUN" status is established,
execute a REAL to VIRTUAL mode switching request
(M2047 ON) to enable operation.
Deceleration to stop based on
smoothing time constant.
!
After a stop occurs, execute a START to resume operation.
For synchronous encoder axes, switch to the REAL mode,
then back to the VIRTUAL mode to resume inputs.
Deceleration to stop based on
smoothing time constant.
!
After a stop occurs, execute a START to resume operation.
Servo switches OFF after
immediate stop.
×
Operation cannot be resumed due to a synchronization
discrepancy between the virtual axis and output module
which occurs at the stop.
After canceling the emergency stop, re-align the output
module in the REAL mode, switch the synchronization
discrepancy warning (M2046) OFF, then switch back to the
VIRTUAL mode to resume operation.
Relevant
output module
(Servo error,
Servo error
code set)
Servo error at ADU axis
All ADU or MR-
"
-B axes are brought
to an immediate stop, resulting in a
servo OFF status.
Servo error at MR-
"
-B axis.
An immediate stop occurs only at the
axis where the error occurred, and a
servo OFF status is established.
All other axes are synchronized with
the virtual axis and are then stopped.
×
After executing a servo error reset in the REAL mode, re-
align the axes, switch the synchronization discrepancy
warning (M2046) OFF, then switch back to the VIRTUAL
mode to resume operation.
Deceleration to stop based on
smoothing time constant.
×
After the stop, reset the servo system CPU in the REAL
mode to resume operation.
M9073(PCPU
WDT
error)ON
Servo switches OFF after
immediate stop.
×
Operation cannot be resumed due to a synchronization
discrepancy between the virtual axis and output module
which occurs at the stop.
After resetting the servo system CPU, re-align the output
module,then switch to the VIRTUAL mode to resume
operation.
Servo switches OFF after
immediate stop.
×
Operation cannot be resumed due to a synchronization
discrepancy between the virtual axis and output module
which occurs at the stop.
After resetting the servo system CPU, re-align the output
module,then switch to the VIRTUAL mode to resume
operation.
Servo switches OFF after
immediate stop.
×
Operation cannot be resumed due to a synchronization
discrepancy between the virtual axis and output module
which occurs at the stop.
After resetting the servo system CPU, re-align the output
module,then switch to the VIRTUAL mode to resume
operation.
Relevant error
set
Deceleration to stop based on
smoothing time constant.
!
Eliminate the error cause to enable a START.
Relevant error
set
Deceleration to stop based on
smoothing time constant.
×
Return to the REAL mode, re-align the axes, then switch to
the VIRTUAL mode to resume operation.