Mitsubishi Electric R32MTCPU Programming Manual page 140

Current value after composite main shaft gear when starting synchronous control
The current value after composite main shaft gear is restored as follows according to the main input axis operation executed
before starting synchronous control.
Operation of main Servo input axis
input axis (Before
Absolute
synchronous
position
control start)
detection
system valid
Home position return Restoration method (1)
Current value change Restoration method (1)
*1
Speed control () Restoration method (1)
Fixed-pitch feed Restoration method (1)
control
Speed/position Restoration method (1)
*2
switching control
Connection to servo Restoration
amplifier method (2)

Connection to
synchronous encoder
Others Restoration method (2)
*1 When it starts by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)" or "[Rq.347] Feed current value
update request command (M10972+20n)".
*2 When it starts by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)".
*3 When setting as a slave CPU synchronous encoder axis type (master CPU servo input axis, master CPU command generation axis,
master CPU synchronous encoder axis) in a Multiple CPU advanced synchronous control configuration.
■Restoration method (1)
The new current value after composite main shaft gear is calculated based on the current value of the main input axis.
Current value after composite main shaft gear=Main input direction of composite main shaft gear (Input +/Input -/No input
(0))Main input axis current value
■Restoration method (2)
The travel value of the main input axis from the last synchronous control session is reflected to the current value after
composite main shaft gear.
Current value after composite main shaft gear=Current value after composite main shaft gear at the last synchronous control
session+Main input direction of composite main shaft gear (Input +/Input -/No input (0))Amount of change of main input axis
current value from the last synchronous control session
The current value after composite main shaft gear at the last synchronous control session is restored when "0: Invalid" is set
in "[Pr.400] Main input axis No. (D15000+150n)", or when a servo input axis or a synchronous encoder axis as the main input
axis is not connected.
"The last synchronous control session" indicates status just before the last synchronous control session was
stopped as follows. These are listed with the last synchronization status.
• Just before "[Rq.380] Synchronous control start (M12000+n)" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the Multiple CPU system power supply turned OFF.
7 AUXILIARY AND APPLIED FUNCTIONS
138
7.4 Synchronous Control Initial Position
Command
generation
Absolute
axis
position
detection
system invalid

Restoration
method (1)
Restoration
method (1)
Restoration
method (1)


Restoration
method (1)

Restoration
method (2)
Synchronous encoder axis
Incremental Absolute
synchronous synchronous
encoder encoder

Restoration method (1)




Restoration Restoration method (2)
method (1)
Restoration method (2)
Synchronous Multiple CPU
encoder via advanced
device synchronous
*3
control
Restoration
method (1)