Differential Gear; Operation; Parameters (Must Be Not Set) - Mitsubishi Electric Q172CPU Programming Manual

7 TRANSMISSION MODULE

7.4 Differential Gear

7.4.1 Operation

7.4.2 Parameters (Must be not set)

The differential gear is used for the following purposes;
• Output module phase is shifted or alignment of operation start position is executed.
• Individual operation separated from the virtual main shaft is executed.
(1) When the output module phase is shifted or alignment of the operation start
position is executed.
(a) When the input axis clutch turned on.
The differential gear subtracts the auxiliary input shaft travel value from the
input shaft travel value and transmits this to the output axis.
Output axis
=
travel value
Clutch
Auxiliary input axis
Drive
module
(b) When the input axis clutch turned off.
Individual operation is possible using the auxiliary input axis since the
differential gear transmits only the travel value from the auxiliary input axis to
the output axis.
(2) When the differential gear is used to connect to the virtual main shaft.
This is used for operation in which the main shaft is switched or when the same
drive module is used as auxiliary input to control all blocks.
Virtual servomotor/
synchronous encoder
Auxiliary input axis
Set the different drive modules for virtual main shaft side and auxiliary input axis
side.
No parameters must be not set for the differential gear.
Input axis Auxiliary input axis
travel value travel value
Virtual main shaft
Input axis
Differential gear
Output axis
Output
module
Input axis Differential gear
Output axis
Drive
module
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[PLS]
Virtual main shaft