Mitsubishi Electric MELSEC iQ-R Series User Manual page 328

Item
[Md.119] Servo status2
[Md.514] HPR operating status
• The operation of the following function of virtual servo amplifier differs from the actual servo amplifier.
Function
External signal selection function
External command function selection
Torque limit function
• When a slave device is connected to an axis or station that is operating as a virtual servo amplifier, the relevant slave
device is connected to the CC-Link IE TSN network, but does not enter the in synchronous communication status.
• An axis being operated as a virtual servo amplifier emulate the following servo amplifier types.
• Servo amplifier type: MR-J5-G
The specification of the emulated MR-J5-G is as follows.
Function
Reception check
PDO-related
SLMP-related
Servo alarm-related
Motor type
Operation mode
External signal-
related
9 COMMON FUNCTIONS
326
9.6 Virtual Servo Amplifier Function
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Storage details
• Zero point pass (b0): Always ON
• Zero speed (b3): Changed depending on the command speed
• Speed limit (b4): Turns ON when the speed exceeds the limit
• PID control (b8): Always OFF
Changed depending on the HPR (home position return) status
Operation
When "1: Servo amplifier" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection", and "[Pr.118] DOG
signal selection", this function cannot be used to emulate the upper/lower limit signal (FLS, RLS) and proximity dog
signal (DOG).
When "2: Buffer memory" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection", and "[Pr.118] DOG
signal selection", the upper/lower limit switch signal (FLS, RLS) and proximity dog signal (DOG) follow the buffer
memory status of the Motion module even with a virtual servo amplifier.
This function cannot be used to emulate "[Pr.95] External command signal selection".
Turns ON/OFF torque limit ([Md.108] Servo status1: b13) depending on the command torque value.
Support

WDC check
Emulation of feedback 

Variable mapping

Response data simulation


Standard rotary type

csp
csv 

cst
hm 

ct
FLS 

RLS
search engine
value at torque control mode.
Description
Check of reception WDC (the master station  the slave station) is not carried out.
Emulates and returns the data received from the MR-J5-G.
When the emulate function is valid, the default mapping of MR-J5-G is used.
For the default mapping, refer to MR-J5-G manuals.
The following functions cannot be used with the virtual servo amplifier function.
• External input signal
• Synchronous encoder via servo amplifier
• Optional data monitor
SLMP communication simulation is not supported.
Servo alarms cannot be detected.
Operates as a rotary type motor (resolution: 4194304).
A speed unit of the servo amplifier is fixed to 0.01 r/min.
Position control operation by csp is available.
Velocity control operation by csv is available.
Torque control operation by cst is available.
Homing by hm is available. The homing method supports the driver homing method
(data set method) only.
Continuous operation to torque control by ct is available. (The operation is the same as
cst.)
• Only input via the controller is available.
Stop operation of the slave station when the FLS is OFF is not simulated. The
command from the master station stops by FLS detection, following which the servo
motor stops as well.
• In the case of input via the servo amplifier, the input value is always OFF.
• Only input via the controller is available.
Stop operation of the slave station when the RLS is OFF is not simulated. The
command from the master station stops by RLS detection, following which the servo
motor stops as well.
• In the case of input via the servo amplifier, the input value is always OFF.
Buffer memory address
Axis 1 to axis 16
2476+100n
2457+100n