Selection Of Slave Cpu Input Axis Type - Mitsubishi Electric R32MTCPU Programming Manual

Selection of slave CPU input axis type

In the slave CPU side, by setting the input axis type of the master CPU from the input axis parameter "[Pr.320] Synchronous
encoder axis type", the change amount from the master CPU becomes the input value, and is controlled as a synchronous
encoder axis.
When the master CPU input axis type is servo input axis or synchronous encoder axis, the input value transmitted to the slave
CPU from the master CPU and the relation with each monitor data of the input axis is shown below. (For the command
generation axis, the change amount of the generated command, is transmitted).
• If "301: Master CPU servo input axis" in "[Pr.320] Synchronous encoder axis type" is selected.
The change amount generated from the current value of the master CPU servo input axis is transmitted to the slave CPU.
Master CPU side
[Pr.300]Servo input axis type
Servo motor potion
Current feed value
Real current value
Servo command value
Feedback value
Input smoothing
processing
Phase
compensation
on processing
Rotation direction
restriction
Current value of
servo input axis
7 AUXILIARY AND APPLIED FUNCTIONS
164
7.10 Multiple CPU Advanced Synchronous Control
[Md.302] Servo input axis
phase compensation amount
(D12284+10n, D12285+10n)
[Md.303] Servo input axis rotation
direction restriction amount
(D12286+10n, D12287+10n)
[Md.300] Servo input axis current
value
(D12280+10n, D12281+10n)
[Md.301] Servo input axis speed
(D12282+10n, D12283+10n)
Slave CPU side
[Pr.320] Synchronous encoder axis type
301: Master CPU servo input axis
Synchronous encoder input
Counter disable/
Counter enable
Unit conversion
Input smoothing
processing
Phase
compensation
on processing
Rotation direction
restriction
Current value
change
Current value of
synchronous
encoder axis
[Md.323] Synchronous encoder
axis phase compensation amount
(D13246+20n, D13247+20n)
[Md.324] Synchronous encoder
axis rotation direction restriction
amount
(D13248+20n, D13249+20n)
[Md.320] Synchronous encoder
axis current value
(D13240+20n, D13241+20n)
[Md.321] Synchronous encoder
axis current value per cycle
(D13242+20n, D13243+20n)
[Md.322] Synchronous encoder
axis speed
(D13244+20n, D13245+20n)