Mitsubishi Electric R32MTCPU Programming Manual page 172

■Synchronous control start program
<Master CPU>
After completing alignment, confirm that the output axis of the slave CPU is in
synchronous control and turn ON synchronous control start.
Axis alignment
[G 1]
//Waiting for subroutine process complete
NOP
[F 1]
//Master CPU alignment complete signal
SET B1000
[G 2]
//Master CPU axis 1 start accept OFF by [St.380]
Synchronous control ON of slave CPU (CPU No.3)
axis 16
M175*!M2001
[F 2]
//Axis 1 [Rq.380] Synchronous control start ON
SET M12000
7 AUXILIARY AND APPLIED FUNCTIONS
170
7.10 Multiple CPU Advanced Synchronous Control
Sync_ax1
END
<Slave CPU>
After completing alignment, connect the synchronous encoder and then after
executing a current value change, turn ON synchronous control start.
Sync_ax16
Axis alignment
[G 1]
//Waiting for subroutine process complete
NOP
[G 10]
//Master CPU servo input axis (axis 3) confirms
connection status and aligning completion
M98*B1000
[F 10]
//[Rq.324] Connection command of synchronous encoder
via device/master CPU
SET M11630
[G 11]
//[Sr.321] Synchronous encoder axis connection valid flag
(Axis 8)
M10511
[F 12]
//Current value change for synchronous encoder axis
(axis 8) of slave CPU
D14893=0
//[Cd.321] Synchronous encoder axis control method:
Current value change
D14894L=200000
//[Cd.322] Synchronous encoder axis current value
setting address
SET M11629
//[Rq.320] Synchronous encoder axis control request ON
[G 13]
//[St.325] Synchronous encoder axis control complete flag
ON and slave CPU axis 16 start accept OFF
M10516*M2016
[F 14]
//[Rq.380] Synchronous control start ON of axis 16
SET M12015
END