Axis Configuration; Master Axis Data Source Selection - Mitsubishi Electric MELSEC iQ-R Series User Manual

14.2

Axis Configuration

The following shows axes that can be specified to Master and Slave in the single axis synchronization function block. Any of
the following axis types can be used in the configuration of Master or Slave. For the specifications of each axis type, refer to
the following.
Page 32 Axis, Page 41 Axis Assignment
Axis type
Real drive axis
Virtual drive axis
Virtual linked axis
A command can be transmitted between axes by linking the axes to the single axis synchronization function block. Also, to
simultaneously execute controls such as gear and cam by executing multiple function blocks, like the following example, link
the necessary number of axes and execute the single axis synchronization function block.
Ex.
When cam control is realized by linking axes with gear from the realdrive and adding a command from the virtual drive to the
command
Real drive
Gear
Virtual drive
Composite gear
Cam
14.3

Master Axis Data Source Selection

In the single axis synchronization function block, a position type of the master axis whose the slave axis executes the single
axis synchronous control can be selected by MasterValueSource of each FB.
mcLatest* uses a position of the master axis in the same operation cycle, and the others use a position of the master axis in
the previous operation cycle. The operation may differ between mcLatest* and the others for the differences of the operation
cycles between the master axis and the slave axis or for the execution order of FBs. For details, refer to the following.
Page 90 Operation Cycle
Operates with the same value as set value when specifying actual value in the mastar axis data source selection by setting
axis types other than real axis to the master axis.
MasterValueSource
1: mcSetValue (Set value)
2: mcActualValue (Actual value)
101: mcLatestSetValue (Latest set value)
102: mcLatestActualValue (Latest actual value)
Remark
When control for Motion FB is required, create a configuration that executes function blocks for each virtual linked axis and
transmits the result (command) to the real drive axis.
Cammands can be mainly created by positioning control, etc.
It is used as an intermediate axis to transmit a command to the real drive axis. When using multiple function blocks
(motion) such as gear, assign virtual linked axes.
M
Real drive axis
Virtual drive axis M
M : Master (master axis)
S :
Slave (slave axis)
Description
Uses the commanded position of the master axis in the previous operation cycle.
Uses the actual position of the master axis in the previous operation cycle.
Uses the commanded position of the master axis in the current operation cycle.
Uses the actual position of the master axis in the current operation cycle.
: MC_GearIn
S
Virtual linked axis
M
S
S Virtual linked axis : MC_CombineAxes
M
S
: MC_CamIn
Real drive axis
14 SYNCHRONOUS CONTROL
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14.2 Axis Configuration
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