Instruction manual

6. DRIVE MODULE
6 − 3
(2) Procedure for stopping before completion
To stop virtual servo motor operation before positioning is completed, switch
the stop/rapid stop command ON in the sequence program. (There are no
external stop causes (STOP, FLS, RLS) for the virtual servo motor.)
(3) Control items
(a) During positioning control, the virtual servo motor backlash compensation
amount is processed as "0".
(b) As the virtual servo motor has no feedback pulse, the deviation counter
value and the real current value are not stored.
(c) The virtual servo motor's feed current value is recorded in a backup
memory, and is restored after switching from the REAL to VIRTUAL mode
occurs following a power ON.
1) Operation continuation is possible when the output module is using the
absolute position system. However, if the servo motor for the output
module which is connected to the virtual servo motor is operated while
power is OFF, continuation will become impossible even if the absolute
position system is being used.
If this occurs, a "VIRTUAL mode continuation disabled" warning
signal
(Note)
will switch ON.
To continue operation, the virtual servo motor or the output module's
servo motor must be moved to the position where synchronous operation
is possible.
2) If the output module is not using the absolute position system, the feed
current value must be corrected (using the "current value change"
function) after switching from the REAL to the VIRTUAL mode occurs.
(4) Control change
The following virtual servo motor control items can be changed:
• Current value change
• Speed change
Current value changes are executed by the CHGA instruction, and speed
changes are executed by the CHGV instruction. (See Section 10.1)
For details regarding the CHGA and CHGV instructions, see Section 5.3 of the
Motion Controller (SV13/22 REAL Mode) Programming Manual (type
A273UH/A173UH).
REMARK
(Note): For details regarding the "VIRTUAL mode continuation disabled"
warning signal, see Section 8.5.1(2).