Precautions At Real/Virtual Mode Switching - Mitsubishi Electric Q172CPU Programming Manual

9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

9.3 Precautions at Real/Virtual Mode Switching

This section describes the precautions at real/virtual mode switching.
(1) The motion control step and the torque limit value change instruction/speed
change instruction during mode switching processing execution impossible
The motion control step and the torque limit value change instruction/speed
change instruction during the from real to virtual mode/from virtual to real mode
switching processing (part of timing chart (Note-1) cannot execute.
The real/virtual mode switching request flag (M2043) and real/virtual mode
switching status flag (M2044) should be used as an interlock.
[Timing Chart]
Real to virtual mode switching request
Real/virtual mode
OFF
switching request
(M2043)
Real/virtual mode
OFF
switching status
(M2044)
(Note-1) : Real to virtual
mode switching
processing
Real mode
Motion SFC program for which executes the motion control step of real and
virtual mode is shown below.
[Program Example]
(a) Motion control step in the virtual mode
Example of Motion SFC program is shown below.
Virtual mode example
Virtual mode
G10
PX000*M2043*M2044*!M2001
K10
ABS-1
Axis 1,
Speed
G20
!PX000*!M2001
(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.
ON
ON
(Note-1) : Virtual to real
PX000, real/virtual switching request and
switching status turn on, and axis 1 start
accept flag turn off.
1 axis linear control
10000PLS
End address............ 10000[PLS]
1000PLS/s
Positioning speed......... 1000[PLS]
Wait until PX000 and axis 1 start accept flag
turn off.
END
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Virtual to real mode switching request
mode switching
processing
Virtual mode
Axis used................ Axis 1
Real mode