Method To Restart Synchronous Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

5.6

Method to Restart Synchronous Control

The relationship of the synchronous position for synchronous control is always saved in the Simple Motion module.
Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized
relationship through the synchronous control initial position parameters (Page 148 Synchronous Control Initial Position
Parameters).
The reference axis used to restart synchronous control is different for each system. The following procedure shows an
example of how to restore synchronized values based on the servo input axis as reference position.
Example
Restoring 2 output axes (axis 2, axis 3) based on the servo input axis (axis 1) as the reference position. (Press conveyance
device)
Pressing position
(Axis 1)
Y axis of workpiece
conveyance (Axis 3)
■Procedure for synchronous control (first time)
1.
Execute home position return for axis 1, 2 and 3, and position to the synchronization starting point.
2.
Set the synchronous control initial position parameters for axis 2 and 3 as follows.
Setting item
[Pr.460] Setting method of position value per cycle after main shaft gear
[Pr.462] Cam axis position restoration object
[Pr.463] Setting method of cam reference position
[Pr.468] Cam axis position value per cycle (Initial setting)
3.
Turn ON the bits for axis 2 and 3 in "[Cd.380] Synchronous control start" to start synchronous control.
■Procedure for restarting synchronous control
1.
Set the synchronous control initial position parameters for axis 2 and 3 as follows.
Setting item
[Pr.460] Setting method of position value per cycle after main shaft gear
[Pr.462] Cam axis position restoration object
[Pr.463] Setting method of cam reference position
[Pr.464] Setting method of cam axis position value per cycle
2.
Turn ON the bits for axes 2 and 3 in "[Cd.381] Synchronous control analysis mode", and then turn ON the bits for axes 2
and 3 in "[Cd.380] Synchronous control start" to execute the synchronous control analysis. The analyzed result is
updated in [Md.400] to [Md.425].
3.
Position axes 2 and 3 to "[Md.409] Cam axis command position value" which has been updated in 2.
4.
Turn OFF the bits for axes 2 and 3 in "[Cd.381] Synchronous control analysis mode", and then turn ON the bits for axes
2 and 3 in "[Cd.380] Synchronous control start" to start synchronous control.
Axis 1
X axis of workpiece
Axis 2
conveyance (Axis 2)
Main
Main
shaft
shaft
gear
gear
Axis 1
Axis 3
Setting value
2: Calculate from input axis
0: Cam axis position value per cycle restoration
2: Command position value
0
Setting value
2: Calculate from input axis
2: Cam axis command position value restoration
0: Previous value
2: Position value per cycle after main shaft gear
5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION
5.6 Method to Restart Synchronous Control
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