Mitsubishi Electric MELSEC iQ-R Series User Manual page 27

• If bit for multiple axes are turned ON simultaneously in "[Cd.380] Synchronous control start", control is not
started simultaneously since the analysis is processed for each axis in numerical order. When multiple axes
must be started simultaneously, start the input axis operation after confirming that all axes are configured for
the synchronous control.
• If the input axis operates during the analysis at the synchronous control start, the movement amount of the
input axis, the current value change or the amount of change by the home position return is reflected
immediately after the synchronous control start. The output axis might rapidly accelerate depending on the
movement amount or the amount of change of the input axis. Start the input axis operation after confirming
that are configured for synchronous control.
• The analysis process for synchronous control start might take time depending on the setting of the
advanced synchronous control parameters. (When "0: Cam axis position value per cycle restoration" is set
in "[Pr.462] Cam axis position restoration object" and the cam (cam resolution: 32768) is searched: About
26 ms, When "0: Cam axis position value per cycle restoration" is set in "[Pr.462] Cam axis position
restoration object" and the cam (cam resolution: 256) is searched: About 0.4 ms [RD77MS], about 0.5 ms
[RD77GF]) Set "1: Cam reference position restoration" or "2: Cam axis command position value restoration"
in "[Pr.462] Cam axis position restoration object" to start synchronous control at high speed.
• When the advanced synchronous control parameters are set to the value outside the setting range, the
synchronous control does not start, and the input axis error No. is stored in the monitor data.
1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL
1.3 Operation Method of Synchronous Control
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