Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 26

Status when starting synchronous control
The following signal are turned OFF when starting synchronous control.
• [St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)
• [St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)
• [St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)
• [St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)
• [St.1064] Speed controlling (R: M32404+32n/Q: M2404+20n)
• [St.1065] Speed/position switching latch (R: M32405+32n/Q: M2405+20n)
• [St.1070] Home position return complete (R: M32410+32n/Q: M2410+20n)
Restrictions
• If "[Rq.380] Synchronous control start (R: M43440+n/Q: M12000+n)" is turned ON simultaneously in multiple axes, 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 travel value or the change amount
resulting from a current value change of the input axis is reflected immediately after the synchronous control start. The
output axis might suddenly accelerate depending on the travel value or change amount 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 parameter setting for synchronous
control, or when numerous axes are started simultaneously. When the analysis process takes time, change the operation
cycle to a larger value. The processing times for when "0: Cam axis current value per cycle restoration" is set to "[Pr.462]
Cam axis position restoration object (R: D42742+160n/Q: D15102+150n)" are shown below. Set "1: Cam reference
position restoration" or "2: Cam axis current feed value restoration" in "[Pr.462] Cam axis position restoration object (R:
D42742+160n/Q: D15102+150n)" to start synchronous control at high speed.
Number of axes
1
8
16
32
64
• When the synchronous control parameter is set to the value outside the setting range, the synchronous control does not
start, and the error code corresponding to each data of error axis is stored in the data register.
2 STARTING UP THE SYSTEM
24
2.2 Starting/Ending for Synchronous Control
Cam resolution
256
0.44[ms]
1.78[ms]
3.55[ms]
7.10[ms]
12.4[ms]
32768
12.2[ms]
94.4[ms]
249[ms]
483[ms]
831[ms]