Instruction manual

5. MECHANICAL SYSTEM PROGRAM
5 − 4
5.2 Mechanical Module List
Summaries of mechanical modules used in VIRTUAL mode mechanical module
connection diagrams are given in Tables 5.1.
For details regarding each mechanical module, see Chapters 5 to 8.
Table 5.1 Mechanical Module List
Mechanical Module Max. Number Used
Number Per BlockClassi-
fication
Name Appearance
Number Per Servo
System CPU
Number Per
System
Connect-ion
Shaft Side
Auxiliary Input
Shaft Side
Function Description
Reference
Section
Virtual
servo
motor
32 32

•
Used to drive the mechanical system
program's virtual axis by servo program or
JOG operation.
Section 6.1
Drive
module
Synch-
ronous
encoder
A173UH
12
A273UH
4
Total
A173UH
44
A273UH
36
A173UH
12
A273UH
4
Total
A173UH
44
A273UH
36

•
Used to drive the virtual axis by input
pulses from an external synchronous
encoder.
Section 6.2
Virtual
main
shaft

32 4

•
This is a virtual "link shaft".
•
Drive module rotation is transferred to the
transmission module.

Virtual
axis
Virtual
auxiliary
input
shaft

32
Total 64
32

•
This is the auxiliary input shaft for input to
the transmission module's differential gear.
•
This shaft is automatically displayed when
a differential gear and gear are connected.

Gear 64 64 1 1
•
Transfers the drive module's rotation to the
output shaft.
•
The travel value (PULSE) input from the
drive module is adjusted according to the
gear ratio setting value, and is then
transmitted to the output shaft so that
rotation occurs in the set direction.
Section 7.1
Direct
clutch
Smoo-
thing
clutch
64 64 1 1
•
Engages/ disengages the output module
with the drive module rotation.
•
In response to clutch ON/OFF switching,
there is a direct clutch for direct transfer,
and a smoo-thing clutch for acceleration/
deceleration processing which occurs in
accordance with the smoothing time
constant setting.
•
The ON/OFF mode, address mode, or the
external input mode can be used,
depending on the application.
Section 7.2
Speed
change
gear
64 64 1 1
•
Used to change the speed of the output
module (roller).
•
The input shaft speed is adjusted
according to the gear ratio setting value,
and is then transmitted to the output shaft.
Section 7.3
32 1
•
Auxiliary input shaft rotation is subtracted
from virtual main shaft rotation and the
result is transmitted to the output shaft.
Trans-
mission
module
Diffe-
rential
gear
32
4


•
Auxiliary input shaft rotation is subtracted
from virtual main shaft rotation and the
result is transmitted to the output shaft.
(For virtual main shaft connection)
Section 7.4
Roller 32 32
•
Used when speed control occurs at the
final output.
Section 8.1
Ball
screw
32 32
•
Used when linear positioning occurs at the
final output.
Section 8.2
Rotary
table
32 32
•
Used when angle control occurs at the
final output shaft.
Section 8.3
Output
module
Cam 32
Total 32
32
Total 32 1 1
•
Used when control other than those shown
above occurs at the final output shaft.
Position control will occur in accordance
with the cam pattern setting data.
•
There are 2 cam control modes: the two-
way cam mode, and the feed cam mode.
Section 8.4