Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 147

"The last synchronous control session" indicates status just before the last synchronous control session was
stopped as follows. These are listed with the last synchronization status.
• Just before "[Rq.380] Synchronous control start (R: M43440+n/Q: M12000+n)" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the Multiple CPU system power supply turned OFF.
Current value per cycle after main/auxiliary shaft gear at synchronous control start
The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is restored as follows
according to the main input axis/auxiliary shaft operation executed before starting synchronous control.
Operation of main Servo input axis
input axis/
Absolute
auxiliary shaft
position
(Before
detection
synchronous
system valid
control start)
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. For that reason, if positioning exceeds "360[degree]", the
current value per cycle after main shaft gear and the current value per cycle after auxiliary shaft gear may not be restored correctly. In
that case, set "[Pr.460] Setting method of current value per cycle after main shaft gear (R: D42740+160n/Q: D15100+150n)" and
"[Pr.461] Setting method of current value per cycle after auxiliary shaft gear (R: D42741+160n/Q: D15101+150n)" to the following
settings.
Synchronous control initial position parameter
[Pr.460] Setting method of current value per cycle after main shaft gear
(R: D42740+160n/Q: D15100+150n)
[Pr.461] Setting method of current value per cycle after auxiliary shaft gear
(R: D42741+160n/Q: D15101+150n)
*5 When the main 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. In that case, set "[Pr.460] Setting method of current value
per cycle after main shaft gear (R: D42740+160n/Q: D15100+150n)" and "[Pr.461] Setting method of current value per cycle after
auxiliary shaft gear (R: D42741+160n/Q: D15101+150n)" to the following settings.
Synchronous control initial position parameter
[Pr.460] Setting method of current value per cycle after main shaft gear
(R: D42740+160n/Q: D15100+150n)
[Pr.461] Setting method of current value per cycle after auxiliary shaft gear
(R: D42741+160n/Q: D15101+150n)
Command
generation
Absolute
axis
position
detection
system invalid

Restoration
method (1)
Restoration
method (1)
Restoration
method (1)

Restoration

*4*5
method (1)

*5
Restoration
method (2)
Synchronous encoder axis
Incremental Absolute
synchronous synchronous
encoder encoder

Restoration method (1)




Restoration Restoration
method (1) method (2)
*5
Restoration method (2)
*5
Setting value
0: Previous value, or
1: Initial setting value of current value per cycle after main shaft gear
0: Previous value, or
1: Initial setting value of current value per cycle after auxiliary shaft gear
Setting value
0: Previous value, or
1: Initial setting value of current value per cycle after main shaft gear
0: Previous value, or
1: Initial setting value of current value per cycle after auxiliary shaft gear
7 SYNCHRONOUS CONTROL INITIAL POSITION
7.1 Synchronous Control Initial Position
Synchronous Multiple CPU
encoder via advanced
device synchronous
control
Restoration Restoration
*5
method (2) method (1)
*3
7
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