Mitsubishi Electric Q Series, Руководство по программированию

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6 DRIVE MODULE
CAUTION
If the mode is switched from virtual mode to real mode while the synchronous encoder axis and
connected output module are operating, the rapid stop occurs at the output module axis, causing a
servo error, and the machine will be subjected to a jolt.
(c) Stopping method
Stop the external synchronous encoder for stopping the external
synchronous encoder.
There are no external inputs (FLS, RLS, STOP) or stop command/rapid stop
command from the Motion SFC program for the synchronous encoder.
(d) Control items
1) The deviation counter value and the real current value are not stored, so
that the synchronous encoder has no feedback pulse.
2) The current value of synchronous encoder is recorded in a backup
memory, and it is restored at the switching from real mode to virtual
mode after the power supply of the Multiple CPU system turned on.
(Note-4)
a) When the output module is using the absolute position system,
continuation operation is possible. However, if the servomotor of the
output module connected to the synchronous encoder or synchronous
encoder for the absolute data method is operated by 180° or more
while the power supply of the Multiple CPU system turns off,
continuation operation is impossible even if the absolute position
system is being used.
At this time, the virtual mode continuation operation disabled warning
signal turns on.
Set the servomotor of output module to the position which
synchronous operation is possible.
b) When the output module is not using the absolute position system,
correct the feed current value by the current value change switching
from real mode to virtual mode.
(e) Control change
The following current value change is possible for the synchronous
encoder.
Refer to Section 7.3 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22) Programming Manual (Motion SFC)" for details of the current
value change.