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Mitsubishi Electric RD77MS2 User Manual Page 109

Melsec iq-r simple motion module.
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Current value after composite main shaft gear at synchronous control start
The current value after composite main shaft gear is restored as follows according to the main input axis operation executed
before starting synchronous control.
Operation of main input axis
(Before synchronous control
start)
Home position return
Current value change
*1
Speed control
Fixed-pitch feed control
*1
Speed-position switching control
*1
Position-speed switching control
Connection to servo amplifier
Connection to synchronous encoder
Others
*1 When "[Pr.300] Servo input axis type" is either "1: Feed current value" or "2: Real current value", and when "[Pr.21] Feed current value
during speed control" is "2: Clear feed current value to zero" only.
Restoration method 1): The new current value after composite main shaft gear is calculated based on the current value of the
main input axis.
Current value after composite main shaft gear =
Main input direction of composite main shaft gear  Main input axis current value
Restoration method 2): The movement amount of the main input axis from the last synchronous control session is reflected to
the current value after composite main shaft gear.
Current value after composite main shaft gear =
Current value after composite main shaft gear at the last synchronous control session + Main input direction of composite
main shaft gear  Amount of change of main input axis current value from the last synchronous control session
The current value after composite main shaft gear at the last synchronous control session is restored when "0: Invalid" is set
in "[Pr.400] Main input axis No.", or when a servo input axis or a synchronous encoder axis as the main input axis is not
connected.
"The last synchronous control session" indicates status just before the last synchronous control session was
stopped as follows. These are listed with the last synchronization status.
• Just before "[Cd.380] Synchronous control start" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the system's power supply turned OFF to the Simple Motion module.
Servo input axis
Absolute position detection
system valid
Restoration method 1)
Restoration method 1)
Restoration method 1)
Restoration method 1)
Restoration method 1)
Restoration method 1)
Restoration method 2)
Restoration method 2)
Absolute position detection
system invalid
Restoration method 1)
5 SYNCHRONOUS CONTROL INITIAL POSITION
5.1 Synchronous Control Initial Position
Synchronous encoder axis
Restoration method 1)
Restoration method 1)
Restoration method 2)
107
5

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