Master-Slave Operation Function - Mitsubishi Electric MELSERVO-J4 Series Transition Handbook

Part 7: Common Reference Material

6.2 Master-slave operation function

WARNING
Configure the circuit so that all the master and slave axes for the same machine
are stopped by the controller forced stop at the moment of a stop of a master or
slave axis due to such as a servo alarm. When they are not stopped
simultaneously by the controller forced stop, the servo motor may operate
unexpectedly and the machine can be damaged.
All the master and slave axes for the same machine should turn on/off EM1
(Forced stop 1) simultaneously. When EM1 (Forced stop 1) is not turned on/off
simultaneously, the servo motor may operate unexpectedly and the machine can
be damaged.
POINT
The master-slave operation function works only when the forced stop
deceleration function is disabled. When the forced stop deceleration function is
enabled, [AL. 37] will occur.
The master-slave operation function cannot be used with the continuous
operation to torque control.
Use the master-slave operation function with the following controllers. Refer to
the manuals for each servo system controller for compatible software versions,
and other details.
RD77MS/QD77MS_/LD77MS_
R_MTCPU/Q17_DSCPU
Q170MSCPU
When the function is used in vertical axis system, set the same value to the
parameters regarding the dynamic brake and electromagnetic brake to prevent
a drop of axes.
The servo-on command of the master axis and slave axis should be turned
on/off simultaneously. If the servo-on command is turned on only for a slave
axis, torque will not be generated. Therefore, an extreme load will be applied to
the electromagnetic brake of the master axis for using in vertical axis system.
The master-slave operation function is available for servo amplifier with software
version A8 or later. All servo amplifiers used in the same system connected to a
controller should be software version A8 or later.
It is not available with MR-J4W2-_B servo amplifiers.
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