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Chapter 14 Common Functions
(2) The feed current value and feed machine value of virtual servo amplifier are
as follows.
(a) When the absolute position system is not in use
The both of feed current value and feed machine value are set to "0".
(b) When the absolute position system is in use
HP is established: Address at latest power supply OFF
HP is not established: "0" (Feed current value and feed machine value)
[2] Restrictions
(1) The following monitor data of virtual servo amplifier differ from the actual
servo amplifier.
Storage item Storage details Buffer memory address
[Md.102]
Deviation counter
value
Always "0".
2452+100n
2453+100n
[Md.107] Parameter error No. Always "0". 2470+100n
[Md.108] Servo status
• Zero point pass (b0) : Always ON
• Zero speed (b3) : Changed depending on the
command speed
• Speed limit (b4) : Always ON when a value other
than "0" is set to the command
torque at torque control mode.
Otherwise, always OFF.
• PID control (b8) : Always OFF
2476+100n
• READY ON (b0), Servo ON (b1)
: Changed depending on the all
axis servo ON signal [Y1] and
"[Cd.100] Servo OFF command"
• Control mode (b2, b3) : Indicates control mode.
• Gain switching (b4) : Always OFF
• Fully closed loop control (b5) : Always OFF
• Servo alarm (b7) : Always OFF
• In-position (b12) : Always ON
• Torque limit (b13) : Changed depending on
"[Md.104] Motor current
value".
(Refer to "Restrictions (2)
and (3)" for details.)
• Absolute position lost (b14) : Always OFF
• Servo warning (b15) : Always OFF
2477+100n
[Md.109]
Regenerative load
ratio
Always "0". 2478+100n
[Md.110]
Effective load
torque
Always "0". 2479+100n
[Md.111] Peak torque ratio Always "0". 2480+100n
[Md.514]
HPR operating
status
[CiA402 mode]
Always "FFFFH". 2457+100n
n: Axis No.-1
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