Driver Communication Function; Control Details - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

5.5

Driver Communication Function

This function uses the "Master-slave operation function" of servo amplifier. The Motion CPU controls the master axis and the
slave axis is controlled by data communication (driver communication) between servo amplifiers without going through the
Motion CPU. This function is used for the case such as to operate the ball screw controlled by multiple axes via the belt. There
are restrictions in the function that can be used by the version of the servo amplifier. Refer to the "Servo amplifier Instruction
Manual" for details.
The following shows the number of settable axes for the master axis and slave axis.
: No restriction
Model Number of
name SSCNETIII(/H)
lines
R64MTCPU 2 lines
R32MTCPU 2 lines
R16MTCPU 1 line
*1 Up to 4 axes per line are settable in the master axis.
*2 Up to 8 axes per line are settable in the master axis.
Driver communication function is only valid in MR-J3-B and MR-J4-B. MR-J4W-B and MR-J3W-B
cannot be used. Nor can MR-J4W-B be used in MR-J3-B compatibility mode.

Control details

Set the master axis and slave axis in the servo parameter. Execute each control of Motion CPU in the master axis. (However,
be sure to execute the servo ON/OFF of slave axis, and error reset at servo error occurrence in the slave axis.) The servo
amplifier set as master axis receives command (positioning command, speed command, torque command) from the Motion
CPU, and sends the control data to the servo amplifier set as slave axis by driver communication between servo amplifiers.
The servo amplifier set as the slave axis is controlled by the control data transmitted from the master axis by driver
communication between servo amplifiers.
Motion CPU module
SSCNETµ(/H)
Positioning command/
speed command/
torque command
Number Combination of number of settable axes
of control
Master axis
axes
*1
SSCNETIII SSCNETIII/H
64 axes 1 axis to 8 axes 1 axis to 16 axes
32 axes
16 axes 1 axis to 4 axes 1 axis to 8 axes
Master axis: Position command, speed command or torque command is received
Servo amplifier
MR-J3- B/MR-J4- B Slave axis : Control data is received from Master axis by driver communication.
Master axis Slave axis 1
[Driver
communication]
Control data 1
Control data 2
Control data 3
d1 d2
Axis 1 Axis 2
ABS/INC INC
Remark
Slave axis
*2
 The axes other than the master axis and slave
axis can be used as normal axis.
from Motion CPU.
Slave axis 2
[Driver [Driver
communication] communication]
Control data 2
Control data 3 Control data 3
d3
Axis 3
INC
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.5 Driver Communication Function
Slave axis 3
d4
Axis 4
INC
193
5