Mitsubishi Electric R32MTCPU Programming Manual page 141

Current value per cycle after main shaft gear, current value per cycle after auxiliary
shaft gear when starting synchronous control
The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is restored as follows
according to the main input axis/auxiliary shaft operation executed before starting synchronous control.
Operation of main Servo input axis
input axis/
Absolute
auxiliary shaft
position
(Before
detection
synchronous
system valid
control start)
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 value of the current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is
calculated based on the current value after composite main shaft gear/auxiliary shaft current value.
• Main shaft
Current value per cycle after main shaft gear=Main shaft gear ratioCurrent value after composite main shaft gear
• Auxiliary shaft
Current value per cycle after auxiliary shaft gear=Auxiliary shaft gear ratioAuxiliary shaft current value
■Restoration method (2)
The travel value from the last synchronous control session is reflected to the current value per cycle after main shaft gear/
current value per cycle after auxiliary shaft gear.
• Main shaft
Current value per cycle after main shaft gear=Current value per cycle after main shaft gear at the last synchronous control
session+Main shaft gear ratioAmount of change of current value after composite main shaft gear from the last
synchronous control session
• Auxiliary shaft
Current value per cycle after auxiliary shaft gear=Current value per cycle after auxiliary shaft gear at the last synchronous
control session+Auxiliary shaft gear ratioAmount of change of auxiliary shaft current value from the last synchronous
control session
The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear at the last synchronous
control session is restored when "0: Invalid" is set in "[Pr.400] Main input axis No. (D15000+150n)" / "[Pr.418] Auxiliary shaft
axis No. (D15024+150n)", or when a servo input axis or a synchronous encoder axis as the main input axis/auxiliary shaft is
not connected.
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)
7 AUXILIARY AND APPLIED FUNCTIONS
7.4 Synchronous Control Initial Position
Synchronous Multiple CPU
encoder via advanced
device synchronous
*3
control
Restoration
method (1)
139
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