Mitsubishi Electric R32MTCPU Programming Manual page 94

[Pr.418] Auxiliary shaft axis No. (D15024+150n)
Set the input axis No. for the auxiliary shaft.
Setting value
0: Invalid
*1
1 to 32: Servo input axis
201 to 232: Command generation axis
801 to 812: Synchronous encoder axis
*1 The range from 1 to 16 is valid in the R16MTCPU.
*2 The range from 201 to 216 is valid in the R16MTCPU.
[Pr.419] Composite auxiliary shaft gear (D15025+150n)
Set the composite method for input values from the main and auxiliary shafts. The setting values for each axis are shown as
follows.
Setting value
0: No input
1: Input+
2: Input-
Operation assumes "0: No input" if the value is set out of the range from 0 to 2.
The composite method for the composite auxiliary shaft gear can be changed during synchronous control. It is
used as a clutch to switch input values between the main and the auxiliary shafts.
[Pr.420] Auxiliary shaft gear: Numerator (D15026+150n, D15027+150n),
Set the numerator for auxiliary shaft gear to convert the input value. The input value is converted as follows.
Input value after conversion = Input value before conversion ×
The input value direction can be reversed by setting a negative value in the numerator of the auxiliary shaft gear.
Set the denominator of the auxiliary shaft gear to a value within the range from 1 to 2147483647.
[Pr.421] Auxiliary shaft gear: Denominator (D15028+150n, D15029+150n)
Set the denominator for auxiliary shaft gear to convert the input value.
Set together with the main shaft gear numerator. (Page 92 [Pr.420] Auxiliary shaft gear: Numerator (D15026+150n,
D15027+150n),)
6 SYNCHRONOUS CONTROL
92
6.2 Auxiliary Shaft Module
Description
The input value is always 0.
Set the servo input axis (axis 1 to 32).
When the servo input axis is not set in the servo network setting, the input value is always 0.
If the number is set to the same value as the output axis, minor error (error code: 1BF0H) occurs and
synchronous control cannot be started.
*2
Set the command generation axis (axis 1 to 32).
When the command generation axis is invalid in the command generation axis parameter setting, the input value
is always 0.
As the command generation axis is used only for command generation, it is possible to set the same number as
the output axis.
Set the synchronous encoder axis (axis 1 to 12).
When synchronous encoder axis is invalid, the input value is always 0.
Description
The input value from the input axis is calculated as 0.
The input value from the input axis is calculated as it is.
The input value from the input axis is calculated with its opposite sign.
Auxiliary shaft gear: Numerator
Auxiliary shaft gear: Denominator