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Mitsubishi Electric RD77MS2 User Manual Page 24

Melsec iq-r 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.
Bit
Details
b0
In speed control flag
b1
Speed-position switching latch flag
b2
Command in-position flag
b4
Home position return complete flag
b5
Position-speed switching latch flag
b10
Speed change 0 flag
• 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.
• If the input axis operates during the analysis at the synchronous control start, the movement amount of the
input axis is reflected immediately after the synchronous control start. The output axis might suddenly
accelerate depending on the movement amount of the input axis. Start the input axis operation after
confirming that are configured for synchronous control.
• The analysis process for synchronous control start might take time depending on the parameter setting for
synchronous control. (When "0: Cam axis current value per cycle restoration" is set in "[Pr.462] Cam axis
position restoration object" and the cam (cam resolution: 32768) is searched: About 26 ms, When "0: Cam
axis current value per cycle restoration" is set in "[Pr.462] Cam axis position restoration object" and the cam
(cam resolution: 256) is searched: About 0.4 ms) 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.
• 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.
1 OUTLINE OF SYNCHRONOUS CONTROL
1.3 Operation Method of Synchronous Control

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