Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 146

Current value after composite main shaft gear when starting synchronous control
The current value after composite main shaft gear is restored as follows according to the main input axis operation executed
before starting synchronous control.
Operation of main Servo input axis
input axis (Before
Absolute
synchronous
position
control start)
detection
system valid
Home position return Restoration method (1)
Current value change Restoration method (1)
*1
Speed control () Restoration method (1)
Fixed-pitch feed Restoration method (1)
control
Speed/position Restoration method (1)
*2
switching control
Connection to servo Restoration
amplifier method (2)
Connection to

synchronous encoder
Others Restoration method (2)
*1 When it starts by turning OFF the "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" or "[Rq.347] Feed
current value update request command (R: M40172+32n/Q: M10972+20n)".
*2 When it starts by turning OFF the "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)".
*3 When setting as a slave CPU synchronous encoder axis type (master CPU servo input axis, master CPU command generation axis,
master CPU synchronous encoder axis) in a Multiple CPU advanced synchronous control configuration.
*4 When the unit setting of the servo input axis is set to [degree], the servo input axis value is rounded to a value within the range of "0 to
359.99999°", and the difference between this value and the current value of the servo input axis when synchronous control was last
conducted is used as the change amount in "Restoration method (2)" below.
*5 When the servo input axis movement since synchronous control was last conducted exceeds "±2147483647 (input axis unit)" before
synchronous control starts, the change amount cannot be calculated correctly.
*6 When the synchronous encoder axis via device since synchronous control was last conducted exceeds "Resolution of synchronous
encoder via device" before synchronous control starts, the change amount cannot be calculated correctly.
■Restoration method (1)
The new current value after composite main shaft gear is calculated based on the current value of the main input axis.
Current value after composite main shaft gear=Main input direction of composite main shaft gear (Input +/Input -/No input
(0))×Main input axis current value
■Restoration method (2)
The travel value of the main input axis from the last synchronous control session is reflected to the current value after
composite main shaft gear.
Current value after composite main shaft gear=Current value after composite main shaft gear at the last synchronous control
session+Main input direction of composite main shaft gear (Input +/Input -/No input (0))×Amount of change of main input axis
current value from the last synchronous control session
The current value after composite main shaft gear at the last synchronous control session is restored when "0: Invalid" is set
in "[Pr.400] Main input axis No. (R: D42640+160n/Q: D15000+150n)", or when a servo input axis or a synchronous encoder
axis as the main input axis is not connected.
7 SYNCHRONOUS CONTROL INITIAL POSITION
144
7.1 Synchronous Control Initial Position
Command
generation
Absolute
axis
position
detection
system invalid

Restoration
method (1)
Restoration
method (1)
Restoration
method (1)

Restoration

*4*5
method (1)

Restoration
method (2)
Synchronous encoder axis
Incremental Absolute
synchronous synchronous
encoder encoder

Restoration method (1)




Restoration Restoration
method (1) method (2)
Restoration method (2)
Synchronous Multiple CPU
encoder via advanced
device synchronous
*3
control
Restoration Restoration
*6
method (2) method (1)