Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 27

• If bit for multiple axes are turned ON simultaneously in "[Cd.380] Synchronous control start", 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 movement amount of the
input axis and the amount of change due to changes in the current value or home position return during the
analysis are reflected immediately after the synchronous control start. The output axis might rapidly
accelerate depending on the movement amount or amount of change 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 setting of the
advanced synchronous control parameters. (When "0: Cam axis position value per cycle restoration" is set
in "[Pr.462] Cam axis position restoration object" and the cam (cam resolution: 32768) is searched: About
8ms, When "0: Cam axis position value per cycle restoration" is set in "[Pr.462] Cam axis position
restoration object" and the cam (cam resolution: 256) is searched: About 0.4 ms) Set "1: Cam reference
position restoration" or "2: Cam axis command position value restoration" in "[Pr.462] Cam axis position
restoration object" to start synchronous control at high speed.
• When the advanced synchronous control parameters are set to the value outside the setting range, the
synchronous control does not start, and the input axis error No. is stored in the monitor data.
1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL
1.3 Operation Method of Synchronous Control
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