Panasonic AFP7MC16EC User Manual page 216

Automatic Operation (Synchronous Control)
 Slip method
This method detects the connection (ON) or disconnection (OFF) of the clutch and set the slip
time to acceleration time and deceleration time so that the operating speed of the slave axes
to follow the operation speed of the master axis. The acceleration/deceleration method when
the clutch is connected (ON) or disconnected (OFF) is the linear acceleration/deceleration.
Target speed
Clutch ON slip time
(UM63F73)
Clutch OFF slip time
(UM63F83)
Synchronous setting request
(UM001D4)
Positioning start request
(UM00192)
Busy
(UM00090)
Operation done
(UM00096)
Synchronous cancel request
(UM001DA)
Slave axis clutch ON request
(UM001E6)
Slave axis clutch OFF request
(UM001EC)
Slave axis clutch
operation annunciation
(UM000D8)
9-24
f [pps]
Clutch ON
slip time
50ms
50
100
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Electronic
gear output
[Axis 1]
Clutch OFF
slip time
100ms
Busy
Under synchronous control
Clutch connected
Master axis
operation
[Virtual axis]
t [ms]
Operation done
Synchronous
control
canceled
Clutch disconnected