Instruction manual

6. DRIVE MODULE
6 − 5
(6) Virtual servo motor axis continuous operation
By setting the virtual servo motor stroke limit upper and lower limit parameters
such that the upper stroke limit = lower stroke limit, the stroke limit can be
disabled thereby allowing operation to continue indefinitely.
When the stroke limit is disabled it is also possible for the startup of the feed
current value to take place in a direction that exceeds 32 bits. In such a case
the feed current value is converted to a 32 bit ring address.
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The following operations are possible depending on the control mode.
Control Mode Control Contents
Positioning (Linear)
Speed switching
Constant-speed (Linear)
•
When the ABS command is used for startup it proceeds in a direction
within the 32 bit range. Startup will not proceed in a direction that
exceeds the 32 bit range.
•
When the INC command is used for startup it proceeds in the direction
that has been set thus also making it possible to move in a direction
that exceeds 32 bits.
Fixed-pitch feed
•
Startup proceeds in the set direction and thus it is possible to proceed
in a direction that exceeds 32 bits.
Position follow-up
High-speed oscillation
•
The set address is controlled by the absolute method so that startup in
a direction that exceeds 32 bits is not possible.
Speed
JOG
Manual pulse generation
•
Stroke is disabled. Moves in the set direction.
Positioning (Circular)
Constant-speed (Circular)
•
A start error (107, 108, 109) accompanies the ABS or INC command
and startup is not possible.
(7) Reverse return during positioning
By setting a negative speed and carrying out a speed change request using the
CHGV instruction while startup is in progress, it is possible to initiate
deceleration at that point and return in the reverse direction once deceleration
is completed.
The following operations are possible via use of servo commands.
Control Mode Servo Command Operation
Linear control
ABS-1 INC-1
ABS-2 INC-2
ABS-3 INC-3
ABS-4 INC-4
Circular interpolation control
ABS circular INC circular
Fixed-pitch feed
FEED-1 FEED-2 FEED-3
The direction of movement is reversed when deceleration
is complete, the servo returns to the positioning starting
point using the absolute value of the set speed, and then
stops (stand by). In the case of circular interpolation the
servo returns along the circular orbit.
Constant-speed control
CPSTART 1 CPSTART 2
CPSTART 3 CPSTART 4
The direction of movement is reversed when deceleration
is complete, the servo returns to the previous point using
the absolute value of the set speed, and then stops
(stand by).
Speed control (I)
VF VR
Deceleration is completed and the direction of movement
is reversed using the absolute value of the set speed. It
does not stop until the stop command is input.
Position follow-up control
PFSTART
Speed switching control
VSTART
JOG operation
Reverse return is not possible.
This should be viewed as a normal speed change
request.
The minor error 305 results and the speed limit value is
used for control.
(Remarks) Minor error 305: The set speed is out of range the from 0 to the speed limit.