Mitsubishi Electric R32MTCPU Programming Manual page 156

• It takes two operation cycles until the slave CPU processes the command value sent from the master CPU.
For this reason, the processing software in the Motion CPU, compensates for this by delaying the output
axis of the master CPU side by two operation cycles. By doing this, the timing of commands to the output
axes of the master CPU and slave CPU do not deviate largely.
• Because of the compensation in (1), the update of the synchronous control monitor data in the output axis
for the input axis on the master CPU side, is delayed two operation cycles. Also, when an operation such as
a current value change etc. is executed at the main input axis, the timing of the change of "[Md.400] Current
value after composite main shaft gear (D13600+30n, D13601+30n)" is also delayed two operation cycles.
(Example) For setting the command generation axis in the master CPU
• To remove the delay time described above, using the phase compensation function of the output axis for the
slave CPU and the master CPU, set a value that adds a delay compensation time of two operation cycles to
the delay time inherent to the system. Refer to phase compensation on delay time of the input axis for delay
time inherent to the system. (Page 129 Phase compensation on delay time of the input axis)
Precautions
In the master CPU, when changing "[Md.400] Current value after composite main shaft gear (D13600+30n, D13601+30n)"
continuously, execute after two operation cycles have passed. If executed within two operation cycles, "[Md.400] Current
value after composite main shaft gear (D13600+30n, D13601+30n)" might not be changed.
7 AUXILIARY AND APPLIED FUNCTIONS
154
7.10 Multiple CPU Advanced Synchronous Control
Master CPU
Input axis
Command generation axis
monitor data
[Md.340] to [Md.348],
[St.340] to [St.349]
Delay of 2
operation cycles
(compensated
by software)
Output axis
Synchronous control
monitor data
[Md.400] to [Md.402],
[Md.406] to [Md.411],
[Md.422], [Md.425],
[St.420], [St.421],
[St.423], [St.424]
Input axis
Delay of 2 operation cycles
Output axis
Same timing
Slave CPU
Synchronous encoder axis
monitor data
[Md.320] to [Md.324],
[Md.326], [Md.327],
[St.320] to [St.325]
Synchronous control
monitor data
[Md.400] to [Md.402],
[Md.406] to [Md.411],
[Md.422], [Md.425],
[St.420], [St.421],
[St.423], [St.424]