Master-Slave Operation Function - Mitsubishi Electric MR-J5-G User Manual

Master-slave operation function

The master-slave operation function is available on the following servo amplifiers and also with firmware version D0 or later.
• MR-J5-_G_
• MR-J5D1-_G_
Outline
The master-slave operation function transmits the torque of the master axis through driver communication (servo amplifier
communication through CC-Link IE TSN device station communication), and uses the torque as a command to activate slave
axes.
Additional wiring is not required because data between the master axis and slave axes is transmitted and received through
CC-Link IE TSN communication.
A conceptual figure of master-slave operation communication is shown below. The master axis is activated by receiving the
position command and speed command from the Motion module. The slave axes are activated by receiving the servo-on
command and control mode from the Motion module and receiving the torque command from the master axis.
Motion Unit
Master axis
1 CC-Link IE TSN
20
1.3 Application function
[Controlword (Obj. 6040h)], [Modes of operation (Obj. 6060h)], etc.,
servo amplifier PDS state management, and control mode selection
Status notification, etc.
Slave axis
Status notification, etc.
Slave axis Slave axis