Mitsubishi Electric Q Series, Руководство по программированию

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2 STARTING UP THE SYSTEM
2.3.3 Servo programs
(1) Servo program area
(a) The same servo program (Kn) No. cannot be used in both the real mode and
virtual modes. The range of servo program (Kn) used in the virtual mode
must be set using MT Developer2 in advance.
(2) Servo instructions
(a) The home position return, speed control ( ), speed/position switching control,
high-speed oscillation control and speed control with fixed position stop
among the controls which can be used in the real mode cannot be used in
the virtual mode.
(b) Control units of the parameter block and the torque limit value among the
positioning data which can be set using the servo program are not used.
(3) Differences of the servo instruction between real mode and virtual mode are
shown in Table 2.3 below.
Table 2.3 Differences of Servo Instruction List
Item
Real
mode
Virtual
mode
Remark
VPF
VPR
Speed/position
control
VPSTART
VVF
Speed control ( )
VVR
Home position
return
ZERO
Switch to virtual mode
after home position
return in the real
mode.
High-speed
oscillation
OSC
PVF
Servo
instruction
Speed control
with fixed position
stop
PVR
Control units
Fixed as
"PLS"
Positioning
data
Parameter block
Torque limit value
The torque limit value
is set with the "output
module parameter".
: Used, : Unusable, : Not used
(Note-1): Instruction not listed in the table above are common instructions in real mode and virtual
mode.
(Note-2): Refer to Section 10.1 for the real mode axis at virtual mode.