Download MOTION CONTROLLER (SV22) (VIRTUAL MODE)

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART
9.2
Switching from the VIRTUAL to REAL Mode
VIRTUAL to REAL mode switching can be conducted by the user or by the OS.
• By user ......... Switch M2043 OFF
• By OS........... Switching occurs automatically when a servo error is detected.
9.2.1
VIRTUAL to REAL mode switching by user
(1) When a VIRTUAL to REAL mode switching request (M2043 ON→OFF)
occurs, the item shown in Table 9.4 is checked.
If normal, switching to the REAL mode will occur. Before switching M2043
OFF, make sure that this item's status is normal.
(2) If an error is detected, M2045 will switch ON, and the error code will be
stored at the D9195 register. (See section 11.6)
Table 9.4 Checklist for VIRTUAL to REAL Mode Switching
Check Sequence
Check Item
1
• Are all axes stopped?(M2001−M2008/M2001−M2004 are OFF)
9.2.2
Normal
Abnormal
Condition
Condition
YES
NO
VIRTUAL to REAL mode switching by OS
(1) If any of the following conditions are detected during VIRTUAL mode operation,
the OS will automatically switch back to the REAL mode.
• When an external emergency stop (EMG) input occurs.
• When the servo error detection signal (M1608+20n) switches ON at any axis.
• When the PC READY (M2000) signal switches OFF.
• If an alarm occurs in the 24V DC power supply to the A172SENC/A171SENC
(major error 15010 occurs) while the servos are ON at all axes and the
A172SENC/A171SENC brake has been set for use.
(2) If any of the above conditions occur, the OS will switch back to the REAL mode,
and the resulting error code will be stored in the D9195 register.
M2045 will not switch ON at this time.
9−5