Mitsubishi Electric R32MTCPU Programming Manual page 155

Setting example
The following shows an example for synchronizing the output axis of the slave CPU (CPU No.3, CPU No.4) with the command
generation axis (Axis 1) of the master CPU (CPU No.2).
Setting item
Multiple CPU synchronous control CPU
setting
[Pr.340] Command generation axis valid
setting (Axis 1)
[Pr.320] Synchronous encoder axis type
(Axis 1)
Slave CPU (CPU No.3)
Main shaft Composite main
main input
axis
Synchronous
encoder axis
*1
parameter
Synchronous
encoder axis
(Axis 1)
Main shaft
sub input axis
*1: Master CPU
command
Auxiliary Auxiliary
generation axis
shaft shaft
is connected to
gear clutch
axis 1.
Auxiliary
shaft axis
CPU No.
CPU No.2 (Master CPU)
Master CPU
1: Valid

Positioning start
Command
Servo program
generation axis
Positioning control
parameter
(Command
Command
generation axis)
generation axis
(Axis 1)
Main shaft
shaft gear gear
Main shaft
clutch
Speed
change
Speed
gear
change
gear
Composite
auxiliary
shaft gear
Speed
change
gear
Cam
Output axis
Servo Servo Servo
amplifier amplifier amplifier
Servo Servo Servo
motor motor motor
CPU No.3 (Slave CPU)
Slave CPU

401: Master CPU command
generation axis (Axis 1)
Master CPU (CPU No.2)
Main shaft Composite main
main input shaft gear
axis
Main shaft
sub input axis
Auxiliary Auxiliary Speed
shaft shaft change
gear clutch gear
Auxiliary
shaft axis
Slave CPU (CPU No.4)
Main shaft Composite main
main input shaft gear
axis
Synchronous
encoder axis
*1
parameter
Synchronous
encoder axis
(Axis 1)
Main shaft
sub input axis
*1: Master CPU
command
Auxiliary Auxiliary
generation axis
shaft shaft
is connected to
gear clutch
axis 1.
Auxiliary
shaft axis
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Multiple CPU Advanced Synchronous Control
CPU No.4 (Slave CPU)
Slave CPU

401: Master CPU command
generation axis (Axis 1)
Main shaft
gear
Main shaft
clutch
Speed
change
gear
Composite
auxiliary
shaft gear
Speed
change
gear
Cam
Output axis
Servo Servo Servo
amplifier amplifier amplifier
Servo Servo Servo
motor motor motor
Main shaft
gear
Main shaft
clutch
Speed
change
Speed
gear
change
gear
Composite
auxiliary
shaft gear
Speed
change
gear
Cam
Output axis
Servo Servo Servo
amplifier amplifier amplifier
Servo Servo Servo
motor motor motor
7
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