Instruction manual

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL
2 − 7
2.3.3 Servo program
(1) Servo program area
(a) The same servo program No. cannot be used in both the REAL and
VIRTUAL modes. For VIRTUAL mode operations, the servo program's
range must be designated in advance.
(The range setting is executed at an IBM PC running the SW2SRX-
GSV22PE software.)
(2) Servo instructions
(a) The zeroing, speed control (II), speed/position switching functions, and high-
speed oscillation functions are inoperative in the VIRTUAL mode.
(b) The parameter block's control system-of-units and the torque limit value
items (positioning data designated by the servo program) are not used.
(3) The servo instructions available in the REAL and VIRTUAL modes are shown in
Table 2.3 below.
Table 2.3 Servo Instruction List for REAL & VIRTUAL Modes
Item
REAL
Mode
VIRTURL
Mode
Remarks
VPF
VPR
Speed/
position
control
VPSTART
!
×
VVFSpeed
control(II)
VVR
!
×
Zeroing ZERO
!
×
Switch to VIRTUAL
mode after zeroing has
been executed in the
REAL mode
Servo
instruction
High-speed
oscillation
OSC
!
×
Control system-
of-units
! −
Fixed as "PULSE"
Positioning
data
Parameter
block
Torque limit value
! −
Designated at drive
module's parameter
setting
[
!
]:Used [
×
]:Unusable [
−
]:Not used