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2 STRUCTURE OF THE MOTION CPU PROGRAM
2.2 Motion Control in SV22 Virtual Mode
(1) Software-based synchronous control is performed using the mechanical system
program constructed by virtual main shaft and mechanical module in (SV22)
virtual mode.
(2) Mechanical system programs is required in addition to the positioning parameter,
servo program/Motion SFC program used in real mode.
(3) The procedure of positioning control in virtual mode is shown below:
1) Motion SFC program for virtual mode is requested to start using the
D(P).SFCS instruction of the sequence program.
(Motion SFC program can also be started automatically by parameter setting.)
2) The virtual servo motor in the mechanical system program is started.
3) Output the operation result obtained through the transmission module to the
servo amplifier set as the output module.
4) The servo motor is controlled.
Transmission module
END
Motion SFC program
Transfer
Servo program
Start request
instruction of
the Motion
SFC program
Specification of
starting program
No.
(Note-1): The Motion SFC program can also be started
automatically by parameter setting.
DP.SFCS K0
Program structure in SV22 virtual mode
• Home position return data is not used, since home position return cannot be
performed in virtual mode.
(Home position return is executed in real mode.)
• JOG operation in virtual mode is controlled using the JOG operation data set
by drive module parameters.
<Motion CPU>
Servo motor
<PLC CPU>
Positioning control parameters
System settings
Fixed parameters
Servo parameters
Parameter blocks
Limit switch output data
[G200]
M2044//on virtual mode?
[K100: virtual]
1 VF
Axis 1
Speed # 0 pulse/s
2)
1)
Servo motor
Servo amplifierServo amplifier
3)
4)
3)
4)
Mechanical system program
Drive module
(Virtual servo motor)
(Axis 1)
Output module
Sequence program
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