Mitsubishi Electric Q172CPU Programming Manual page 143

6 DRIVE MODULE
REMARK
(Note-1) : Refer to Section 4.1.9 (9) and 4.1.9 (10) for details of the real/virtual mode
switching request flag and real/virtual mode switching status flag.
Refer to Chapter 9 for switching of the real to virtual mode.
(Note-2) : The synchronous encoder input start signal is inputted to the Q173PX
"TREN" terminal.
Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for details of the
Q173PX "TREN" terminal.
(Note-3) : Refer to Section 7.2.1 for details of the clutch control mode.
(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 to virtual mode
after the power supply of the Multiple CPU system turned on.
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
synvhronoue encoder is operated 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 to virtual mode.
(e) Control change
The following current value change is possible for the synchronous
encoder.
Refer to Section 9.3 of the "Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (Motion SFC)" for details of the current
value change.
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