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Mitsubishi Electric RD77MS2 User Manual Page 110

Melsec iq-r simple motion module.
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Current value per cycle after main/auxiliary shaft gear at synchronous control start
The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is restored as follows
according to the main input axis/auxiliary shaft operation executed before starting synchronous control.
Operation of main input axis /
auxiliary shaft
(Before synchronous control
start)
Home position return
Current value change
*1
Speed control
Fixed-pitch feed control
Speed-position switching control
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 value of the current value per cycle after main shaft gear/current value per cycle after
auxiliary shaft gear is calculated based on the current value after composite main shaft gear/auxiliary shaft current value.
[Main shaft]
Current value per cycle after main shaft gear = Main shaft gear ratio  Current value after composite main shaft gear
[Auxiliary shaft]
Current value per cycle after auxiliary shaft gear = Auxiliary shaft gear ratio  Auxiliary shaft current value
Restoration method 2): The movement amount from the last synchronous control session is reflected to the current value per
cycle after main shaft gear/current value per cycle after auxiliary shaft gear.
[Main shaft]
Current value per cycle after main shaft gear =
Current value per cycle after main shaft gear at the last synchronous control session + Main shaft gear ratio  Amount of
change of current value after composite main shaft gear from the last synchronous control session
[Auxiliary shaft]
Current value per cycle after auxiliary shaft gear =
Current value per cycle after auxiliary shaft gear at the last synchronous control session + Auxiliary shaft gear ratio  Amount
of change of auxiliary shaft current value from the last synchronous control session
The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear at the last synchronous
control session is restored when "0: Invalid" is set in "[Pr.400] Main input axis No."/"[Pr.418] Auxiliary shaft axis No.", or when
a servo input axis or a synchronous encoder axis as the main input axis/auxiliary shaft is not connected.
5 SYNCHRONOUS CONTROL INITIAL POSITION
5.1 Synchronous Control Initial Position
Servo input axis
Absolute position detection
system valid
Restoration method 1)
Restoration method 1)
Restoration method 1)
Restoration method 1)
*1
Restoration method 1)
*1
Restoration method 1)
Restoration method 2)
Restoration method 2)
Absolute position detection
system invalid
Restoration method 1)
Synchronous encoder axis
Restoration method 1)
Restoration method 1)
Restoration method 2)

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