Synchronous Control Analysis Mode - Mitsubishi Electric MELSEC iQ-R Series Programming Manual

7.4

Synchronous Control Analysis Mode

With synchronous control analysis mode, parameters are only analyzed for synchronous control when there is a command to
start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes
with position control before starting synchronous control.
If the target axis bit is ON in "[Rq.381] Synchronous analysis request (R: M43250+n/Q: M12032+n)" when starting
synchronous control (turning from OFF to ON for "[Rq.380] Synchronous control start (R: M43440+n/Q: M12000+n)"),
operation enters synchronous control analysis mode.
When the synchronization position analysis is completed, the synchronous control monitor data ([Md.400] to [Md.402],
[Md.406] to [Md.411], [Md.422], [Md.425], [St.420], [St.421], [St.423], [St.424] (Page 137 Synchronous Control Monitor
Data)) is updated, and the target axis bit in "[St.381] Synchronous analysis complete (R: M40080+n/Q: M10912+n)" turns OFF
to ON.
The "[St.380] Synchronous control (R: M40000+n/Q: M10880+n)" and "[St.1040] Start accept flag (R: M30080+n/Q:
M2001+n)" is not turned ON during synchronous control analysis mode.
[Rq.380] Synchronous control
start
(R: M43440+n/Q: M12000+n)
[St.380] Synchronous control
(R: M40000+n/Q: M10880+n)
[Rq.381] Synchronous analysis
request
(R: M43520+n/Q: M12032+n)
[St.381] Synchronous analysis
complete
(R: M40080+n/Q: M10912+n)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Servo program start
Synchronous control monitor
data
• Since the synchronous control analysis mode is used for the synchronous control initial position, a minor
error (error code: 1C29H) is not detected. Therefore, refer to "[Md.409] Cam axis current feed value (R:
D39136+32n, D39137+32n/Q: D13616+30n, D13617+30n)" that is updated by "[St.381] Synchronous
analysis complete (R: M40080+n/Q: M10912+n)" OFF to ON, and perform the synchronous alignment.
• When "[St.381] Synchronous analysis complete (R: M40080+n/Q: M10912+n)" is ON at the synchronous
control analysis mode start, "[St.381] Synchronous analysis complete (R: M40080+n/Q: M10912+n)" is
turned OFF by turning "[Rq.380] Synchronous control start (R: M43440+n/Q: M12000+n)" OFF to ON.
7 SYNCHRONOUS CONTROL INITIAL POSITION
162
7.4 Synchronous Control Analysis Mode
ON
OFF
OFF
ON
OFF
ON
OFF
OFF
Analyzing
The last monitor value Monitor value at synchronous analysis complete
Analyzing
ON
Start positioning on the "[Md.409] Cam axis current feed value
(R: D39136+32n, D39137+32n/Q: D13616+30n, D13617+30n)"
at the beginning after checking that "[St.381] Synchronous
analysis complete (R: M40080+n/Q: M10912+n)" is ON.
ON
Monitor value at synchronous
control start