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Mitsubishi Electric QD77MS User Manual Page 45

Simple motion module.
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Starting history
The starting history is updated when starting synchronous control. "9020: Synchronous
control operation" is stored in "[Md.4] Start No.".
Status when starting synchronous control
The following bits in "[Md.31] Status" are turned OFF when starting synchronous control in
the same way as for the positioning control start.
b0 : In speed control flag
b1 : Speed-position switching latch flag
b2 : Command in-position flag
b4 : OPR complete flag
b5 : Position-speed switching latch flag
b10 : Speed change 0 flag
(1) If bit for multiple axes are turned ON simultaneously in "[Cd.380] Synchronous control
start", control is not started simultaneously since the analysis is processed for each
axis in numerical order. When the multiple axes must be started simultaneously, start
the input axis operation after confirming that all axes are configured for the
synchronous control.
(2) If the input axis operates during the analysis at the synchronous control start, the
travel value of the input axis is reflected immediately after the synchronous control
start. The output axis might suddenly accelerate depending on the travel value of the
input axis. Start the input axis operation after confirming that are configured for
synchronous control.
(3) The analysis process for synchronous control start might take time depending on the
parameter setting for synchronous control. (Up to about 10ms: In case of searching
the cam (cam resolution: 32768) with the setting "0: Cam axis current value per cycle
restoration" in "[Pr.462] Cam axis position restoration object".)
Set "1: Cam reference position restoration" or "2: Cam axis feed current value
restoration" in "[Pr.462] Cam axis position restoration object" to start synchronous
control at high speed.
(4) When the synchronous control parameter is set to the value outside the setting range,
the synchronous control does not start, and the input axis error No. is stored in the
monitor data.
Chapter1 Outline of Synchronous Control
1 - 13


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