Synchronous Control Analysis Mode - Mitsubishi Electric R32MTCPU Programming Manual

7.7

Synchronous Control Analysis Mode

With synchronous control analysis mode, parameters are only analyzed for synchronous control when there is a command to
start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes
with position control before starting synchronous control.
If the target axis bit is ON in "[Rq.381] Synchronous analysis request (M12032+n)" when starting synchronous control (turning
from OFF to ON for "[Rq.380] Synchronous control start (M12000+n)"), operation enters synchronous control analysis mode.
When the synchronization position analysis is completed, the synchronous control monitor data ([Md.400] to [Md.402],
[Md.406] to [Md.411], [Md.422], [Md.425], [St.420], [St.421], [St.423], [St.424] (Page 124 Synchronous Control Monitor
Data)) is updated, and the target axis bit in "[St.381] Synchronous analysis complete (M10912+n)" turns OFF to ON.
The "[St.380] Synchronous control (M10880+n)" and "[St.1040] Start accept flag (M2001+n)" is not turned ON during
synchronous control analysis mode.
[Rq.380] Synchronous control
OFF
start (M12000+n)
[St.380] Synchronous control
OFF
(M10880+n)
[Rq.381] Synchronous analysis
OFF
request (M12032+n)
[St.381] Synchronous analysis
OFF
complete (M10912+n)
[St.1040] Start accept flag
OFF
(M2001+n)
Servo program start
Synchronous control monitor
The last monitor value
data
• Since the synchronous control analysis mode is used for the synchronous control initial position, a minor
error (error code: 1C29H) is not detected. Therefore, refer to "[Md.409] Cam axis current feed value
(D13616+30n, D13617+30n)" that is updated by "[St.381] Synchronous analysis complete (M10912+n)"
OFF to ON, and perform the synchronous alignment.
• When "[St.381] Synchronous analysis complete (M10912+n)" is ON at the synchronous control analysis
mode start, "[Rq.381] Synchronous control analysis mode request (M10912+n)" is turned OFF by turning
"[Rq.380] Synchronous control start (M12000+n)" OFF to ON.
Example
The following shows an example of aligning the synchronous position of an output axis that references the input axis.
1.
Set the following values in the synchronous control initial position parameters.
Setting item
[Pr.460] Setting method of current value per cycle after main shaft gear (D15100+150n)
[Pr.462] Cam axis position restoration object (D15102+150n)
[Pr.463] Setting method of cam reference position (D15103+150n)
[Pr.464] Setting method of cam axis current value per cycle (D15104+150n)
2.
Turn ON the target axis bit of "[Rq.381] Synchronous analysis request (M12032+n)", and then turn from OFF to ON in
"[Rq.380] Synchronous control start (M12000+n)" to start the synchronous control analysis mode.
3.
Verify that "[St.381] Synchronous analysis complete (M10912+n)" is ON, and execute positioning for the output axis to be
updated to "[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)".
4.
Turn OFF "[Rq.381] Synchronous analysis request (M12032+n)", and then turn from OFF to ON "[Rq.380] Synchronous
control start (M12000+n)" to start synchronous control.
ON
ON
ON
ON
Analyzing
Monitor value at synchronous analysis complete
ON
Analyzing
Start positioning on the [Md.409] Cam axis current
feed value (D13616+30n, D13617+30n) at the
beginning after checking of [St.381] Synchronous
analysis complete (M10912+n) is OFF.
Monitor value at synchronous
control start
Setting value
2: Calculate from input axis
2: Cam axis current feed value restoration
0: Previous value
2: Current value per cycle after main shaft gear
7 AUXILIARY AND APPLIED FUNCTIONS
7.7 Synchronous Control Analysis Mode
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