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Mitsubishi Electric QD77MS User Manual Page 20

Simple motion module.
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4.1.3 Main shaft clutch parameters ............................................................................................................ 4- 5
4.1.4 Main shaft clutch control data ........................................................................................................... 4-13
4.2 Auxiliary shaft module .............................................................................................................................. 4-14
4.2.1 Overview of auxiliary shaft module ................................................................................................... 4-14
4.2.2 Auxiliary shaft parameters ................................................................................................................ 4-15
4.2.3 Auxiliary shaft clutch parameters ...................................................................................................... 4-17
4.2.4 Auxiliary shaft clutch control data ..................................................................................................... 4-25
4.3 Clutch ........................................................................................................................................................ 4-26
4.3.1 Overview of clutch ............................................................................................................................. 4-26
4.3.2 Control method for clutch .................................................................................................................. 4-26
4.3.3 Smoothing method for clutch ............................................................................................................ 4-33
4.3.4 Use example of clutch ....................................................................................................................... 4-38
4.4 Speed change gear module .................................................................................................................... 4-39
4.4.1 Overview of speed change gear module .......................................................................................... 4-39
4.4.2 Speed change gear parameters ....................................................................................................... 4-40
4.5 Output axis module .................................................................................................................................. 4-42
4.5.1 Overview of output axis module........................................................................................................ 4-42
4.5.2 Output axis parameters ..................................................................................................................... 4-44
4.6 Synchronous control change function ..................................................................................................... 4-48
4.6.1 Overview of synchronous control change function .......................................................................... 4-48
4.6.2 Synchronous control change control data ........................................................................................ 4-49
4.7 Synchronous control monitor data ........................................................................................................... 4-54
4.8 Phase compensation function ................................................................................................................. 4-59
4.9 Output axis sub functions ........................................................................................................................ 4-62
5. Synchronous Control Initial Position
5.1 Synchronous control initial position ......................................................................................................... 5- 2
5.2 Synchronous control initial position parameters ..................................................................................... 5- 7
5.3 Cam axis position restoration method ..................................................................................................... 5-11
5.3.1 Cam axis current value per cycle restoration ................................................................................... 5-11
5.3.2 Cam reference position restoration .................................................................................................. 5-17
5.3.3 Cam axis feed current value restoration ........................................................................................... 5-19
5.4 Synchronous control analysis mode........................................................................................................ 5-22
5.5 Cam position calculation function ............................................................................................................ 5-24
5.5.1 Cam position calculation control data ............................................................................................... 5-25
5.5.2 Cam position calculation monitor data ............................................................................................. 5-27
5.6 Method to restart synchronous control .................................................................................................... 5-33
6. Troubleshooting (Synchronous Control)
6.1 Error and warning details ......................................................................................................................... 6- 2
6.2 Error and warning of input axis ................................................................................................................ 6- 3
6.2.1 List of input axis errors ...................................................................................................................... 6- 4
6.2.2 List of input axis warnings ................................................................................................................. 6- 5
6.3 Error and warning of output axis .............................................................................................................. 6- 6
6.3.1 List of output axis errors .................................................................................................................... 6- 6
6.3.2 List of output axis warnings ............................................................................................................... 6-10
6.4 Warning of cam operation ........................................................................................................................ 6-11
6.4.1 List of cam data operation warnings ................................................................................................. 6-11
6.4.2 List of cam auto-generation warnings .............................................................................................. 6-13
A - 18
5- 1 to 5-34
6- 1 to 6-14

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