Clutch; Overview Of Clutch; Control Method For Clutch - Mitsubishi Electric MELSEC iQ-R Series User Manual

4.3

Clutch

Overview of clutch

The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output axis module
through turning the clutch ON/OFF, which controls the operation/stop of the servo motor.
A clutch can be configured for the main and auxiliary shafts.

Control method for clutch

Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting" and "[Pr.422] Auxiliary shaft
clutch control setting".
The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled
operation) cannot be selected during synchronous control after already selecting another setting.
Item Setting item
Main shaft clutch
Clutch control [Pr.405]
setting Main shaft clutch control
setting
*1 The range from axis 1 to 2 is valid in the 2-axis module, from axis 1 to 4 is valid in the 4-axis module, from axis 1 to 8 is valid in the 8-axis
module, and from 1 to 16 is valid in the 16-axis module.
When the clutch ON condition and the clutch OFF condition are completed simultaneously within one operation cycle, both
clutch ON and OFF processing are executed within one operation cycle. Therefore, the clutch is from OFF to ON and again to
OFF at the clutch OFF status, and it is from ON to OFF and again to ON at the clutch ON status.
The following shows the operations for the clutch ON/OFF by the setting of the ON control mode and the OFF control mode.
Setting details/Setting value
Auxiliary shaft clutch
[Pr.422] • Set the control method for the clutch.
Auxiliary shaft clutch control ■Set in hexadecimal.
setting
H _ _ _ _
ON control mode
0: No clutch
1: Clutch command ON/OFF
2: Clutch command leading edge
3: Clutch command trailing edge
4: Address mode
5: High speed input request [RD77MS]
6: Main/auxiliary shaft clutch
control request ON/OFF [RD77GF]
7: Main/auxiliary shaft clutch
control request leading edge [RD77GF]
8: Main/auxiliary shaft clutch
control request trailing edge [RD77GF]
OFF control mode
0: OFF control invalid
1: One-shot OFF
2: Clutch command leading edge
3: Clutch command trailing edge
4: Address mode
5: High speed input request [RD77MS]
7: Main/auxiliary shaft clutch
control request leading edge [RD77GF]
8: Main/auxiliary shaft clutch
control request trailing edge [RD77GF]
High speed input request signal
0 to F: High speed input request signal
from axis 1 to axis 16
4 ADVANCED SYNCHRONOUS CONTROL
4
*1 [RD77MS]
111
4.3 Clutch