Mitsubishi Electric R32MTCPU Programming Manual page 25

Restrictions
• If "[Rq.380] Synchronous control start (M12000+n)" is turned ON simultaneously in multiple axes, 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 travel value of the input axis is reflected
immediately after the synchronous control start. The output axis might suddenly accelerate depending on the travel value 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. The processing times for when "0: Cam axis current value per cycle restoration" is set to "[Pr.462] Cam axis
position restoration object (D15102+150n)" are shown below. Set "1: Cam reference position restoration" or "2: Cam axis
current feed value restoration" in "[Pr.462] Cam axis position restoration object (D15102+150n)" to start synchronous
control at high speed.
Number of axes
1
8
16
32
• When the synchronous control parameter is set to the value outside the setting range, the synchronous control does not
start, and the error code corresponding to each data of error axis is stored in the data register.
Cam resolution
256
0.44[ms]
1.78[ms]
3.55[ms]
7.10[ms]
32768
12.2[ms]
94.4[ms]
249[ms]
483[ms]
2 STARTING UP THE SYSTEM
2.2 Starting/Ending for Synchronous Control
2
23