Method To Restart Synchronous Control - Mitsubishi Electric MELSEC iQ-R Series Programming Manual

7.6

Method to Restart Synchronous Control

The relationship of the synchronous position for synchronous control is always saved in the Motion CPU module.
Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized
relationship through the synchronous control initial position parameters. (Page 148 Synchronous Control Initial Position
Parameters)
The reference axis used to restart synchronous control is different for each system. The following procedure shows an
example of how to restore synchronized values based on the servo input axis as reference position.
Example
Restoring 2 output axes (axis 2, axis 3) based on the servo input axis (axis 1) as the reference position. (Press conveyance
device)
Y axis of workpiece
conveyance (Axis 3)
■Procedure for synchronous control (first time)
1.
Execute home position return for axis 1, 2 and 3, and position to the synchronization starting point.
2.
Set the synchronous control initial position parameters for axis 2 and 3 as follows.
Setting item
[Pr.460] Setting method of current value per cycle after main shaft gear (R: D42740+160n/Q:
D15100+150n)
[Pr.462] Cam axis position restoration object (R: D42742+160n/Q: D15102+150n)
[Pr.463] Setting method of cam reference position (R: D42743+160n/Q: D15103+150n)
[Pr.468] Cam axis current value per cycle (Initial setting) (R: D42752+160n, D42753+160n/Q:
D15112+150n, D15113+150n)
3.
Turn ON the bit device for axis 2 and 3 in "[Rq.380] Synchronous control start (R: D43440+n/Q: M12000+n)" to start
synchronous control.
■Procedure for restarting synchronous control
1.
Set the synchronous control initial position parameters for axis 2 and 3 as follows.
Setting item
[Pr.460] Setting method of current value per cycle after main shaft gear (R: D42740+160n/Q:
D15100+150n)
[Pr.462] Cam axis position restoration object (R: D42742+160n/Q: D15102+150n)
[Pr.463] Setting method of cam reference position (R: D42743+160n/Q: D15103+150n)
[Pr.464] Setting method of cam axis current value per cycle (R: D42744+160n/Q:
D15104+150n)
2.
Turn ON the bit device for axis 2 and 3 in "[Rq.381] Synchronous analysis request (R: D43520+n/Q: M12032+n)", and
then turn ON the bit device for axis 2 and 3 in "[Rq.380] Synchronous control start (R: D43440+n/Q: M12000+n)" to
execute the synchronous control analysis. The analyzed result is updated in Synchronous control monitor data ([Md.400]
to [Md.402], [Md.406] to [Md.411], [Md.422], [Md.425], [St.420], [St.421], [St.423], [St.424]. (Page 137 Synchronous
Control Monitor Data))
3.
Position axis 2 and 3 to "[Md.409] Cam axis current feed value (R: D39136+32n, D39137+32n/Q: D13616+30n,
D13617+30n)" which has been updated in Step 2.
4.
Turn OFF the bit device for axis 2 and 3 in "[Rq.381] Synchronous analysis request (R: D43520+n/Q: M12032+n)", and
then turn ON the bit device for axis 2 and 3 in "[Rq.380] Synchronous control start (R: D43440+n/Q: M12000+n)" to start
synchronous control.
Pressing position
(Axis 1)
Axis 1
X axis of workpiece
Axis 2
conveyance (Axis 2)
Main shaft
gear
Axis 1
Axis 3
Setting value
2: Calculate from input axis
2: Cam axis current value per cycle restoration
0: Previous value
0
Setting value
2: Calculate from input axis
2: Cam axis current feed value restoration
0: Previous value
2: Current value per cycle after main shaft gear
7 SYNCHRONOUS CONTROL INITIAL POSITION
7.6 Method to Restart Synchronous Control
Main shaft
gear
7
165