Example Programs - Mitsubishi Electric R32MTCPU Programming Manual

Example programs

In order to maintain synchronizing between master CPU and slave CPU, start synchronizing by the following procedure.
1.
Match the relationship of the controlling position of the master CPU and slave CPU.
2.
Set the "[Rq.324] Connection command of synchronous encoder via device/master CPU (M11602+4n)" in the slave CPU
ON, and confirm the connection is valid in "[St.321] Synchronous encoder axis connecting valid flag (M10441+10n)".
3.
Start synchronous control of the output axis in the slave CPU, and operate the input axis of the master CPU.
If synchronous control in the output axis of the slave CPU is started after operating the input axis of the master CPU first, the
synchronous relationship between the master CPU and slave CPU will deviate for the movement up until the synchronous
control in the output axis of the slave CPU was started.
When ending synchronous control, end synchronous control after stopping operation of the input axis.
Setting of program example
■Master CPU: CPU No.2
• Input axis : Servo input axis Axis 3
• Output axis : Axis 1
• Multiple CPU advanced synchronous control setting
Item
Multiple CPU advanced synchronous control CPU setting
Status device setting Synchronous controlling
Master CPU input axis
Status for each CPU
Error status for each CPU and axis
■Slave CPU: CPU No.3
• Input axis : Synchronous encoder axis Axis 8 (Select master CPU servo input axis Axis 3)
• Output axis : Axis 16
• Multiple CPU advanced synchronous control setting
Item
Multiple CPU advanced synchronous control CPU setting
Status device setting Synchronous controlling
Master CPU input axis
Status for each CPU
Error status for each CPU and axis
CPU No.2
Master CPU
M128

Transfer information

Error information
D1800
D2000
CPU No.2

M128
Transfer information 

Error information
D1800
D2000
CPU No.3

M160


D1801
D2010
CPU No.3
Slave CPU
M160
M96
D1000
D1801
D2010
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Multiple CPU Advanced Synchronous Control
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