Selection Of Slave Cpu Input Axis Type - Mitsubishi Electric MELSEC iQ-R Series Programming Manual

Selection of slave CPU input axis type

In the slave CPU side, by setting the input axis type of the master CPU from the input axis parameter "[Pr.320] Synchronous
encoder axis type", the change amount from the master CPU becomes the input value, and is controlled as a synchronous
encoder axis.
When the master CPU input axis type is servo input axis or synchronous encoder axis, the input value transmitted to the slave
CPU from the master CPU and the relation with each monitor data of the input axis is shown below. (For the command
generation axis, the change amount of the generated command, is transmitted).
• If "301: Master CPU servo input axis" in "[Pr.320] Synchronous encoder axis type" is selected.
The change amount generated from the current value of the master CPU servo input axis is transmitted to the slave CPU.
Master CPU side
[Pr.300]Servo input axis type
Servo motor potion
Current feed value
Real current value
Servo command value
Feedback value
Input smoothing
processing
[Md.302] Servo input axis
Phase
phase compensation amount
compensation
(R: D35444+16n, D35445+16n/
on processing
Q: D12284+10n, D12285+10n)
[Md.303] Servo input axis rotation
direction restriction amount
Rotation direction
(R: D35446+16n, D35447+16n/
restriction
Q: D12286+10n, D12287+10n)
[Md.300] Servo input axis current value
(R: D35440+16n, D35441+16n/
Current value of Q: D12280+10n, D12281+10n)
servo input axis [Md.301] Servo input axis speed
(R: D35442+16n, D35443+16n/
Q: D12282+10n, D12283+10n)
Slave CPU side
[Pr.320] Synchronous encoder axis type
301: Master CPU servo input axis
Synchronous encoder input
Counter disable/
Counter enable
Unit conversion
Input smoothing
processing
[Md.323] Synchronous encoder axis
Phase
phase compensation amount
compensation
(R: D38566+32n, D38567+32n/
on processing
Q: D13246+20n, D13247+20n)
[Md.324] Synchronous encoder axis
rotation direction restriction amount
Rotation direction
(R: D38568+32n, D38569+32n/
restriction
Q: D13248+20n, D13249+20n)
Current value
change
Current value of
synchronous
encoder axis
8 AUXILIARY AND APPLIED FUNCTIONS
8.4 Multiple CPU Advanced Synchronous Control
[Md.320] Synchronous encoder axis
current value
(R: D38560+32n, D38561+32n/
Q: D13240+20n, D13241+20n)
[Md.321] Synchronous encoder axis
current value per cycle
(R: D38562+32n, D38563+32n/
Q: D13242+20n, D13243+20n)
[Md.322] Synchronous encoder axis
speed
(R: D38564+32n, D38565+32n/
Q: D13244+20n, D13245+20n)
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