Mitsubishi Electric R32MTCPU Programming Manual page 24

Starting method for synchronous control
Synchronous control can be started by turning "[Rq.380] Synchronous control start (M12000+n)" from OFF to ON after setting
the parameters for synchronous control.
"[St.1040] Start accept flag (M2001+n)" turns ON at the synchronous control start, and the parameters for synchronous control
are analyzed. "[St.380] Synchronous control (M10880+n)" turns ON after completion of analysis, and the synchronouscontrol
starts.
Start the input axis operation after confirming that "[St.380] Synchronous control (M10880+n)" of the output axis turns ON.
When "[St.381] Synchronous analysis complete (M10912+n)" is ON at the synchronous control start, "[St.381]
Synchronous analysis complete (M10912+n)" turns OFF by turning "[Rq.380] Synchronous control start
(M12000+n)" OFF to ON. However, "[St.381] Synchronous analysis complete (M10912+n)" does not turn ON
by the analysis completion at the synchronous control start. ("[St.381] Synchronous analysis complete
(M10912+n)" turns ON by the analysis completion at the synchronous control analysis mode start.)
Ending method for synchronous control
Synchronous control can be ended by turning "[Rq.380] Synchronous control start (M12000+n)" from ON to OFF after the
input axis operation is stopped.
"[St.380] Synchronous control (M10880+n)" turns OFF at the synchronous control end, and the "[St.1040] Start accept flag
(M2001+n)" turns OFF at the output axis stop.
Synchronous control can also be ended by turning "[Rq.380] Synchronous control start (M12000+n)" from ON to OFF during
the input axis operation. However, it is recommended to end the synchronous control after stopping the input axis operation
since the output axis stops immediately.
Refer to Stop Operation of Output Axis for the stop operation of output axis at the synchronous control end.(Page 24 Stop
Operation of Output Axis)
[Md.1008] Execute program No. (D12+20n)
This register stores the starting program No. at the servo program starting.
"FFEF" is stored in the "[Md.1008] Execute program No. (D12+20n)" when starting advanced synchronous control.
Status when starting synchronous control
The following signal are turned OFF when starting synchronous control.
• [St.1048] Automatic decelerating flag (M2128+n)
• [St.1060] Positioning start complete (M2400+20n)
• [St.1061] Positioning complete (M2401+20n)
• [St.1063] Command in-position (M2403+20n)
• [St.1064] Speed controlling (M2404+20n)
• [St.1065] Speed/position switching latch (M2405+20n)
• [St.1070] Home position return complete (M2410+20n)
2 STARTING UP THE SYSTEM
22
2.2 Starting/Ending for Synchronous Control