Mitsubishi Electric MELSEC iQ-R Series User Manual page 105

[Pr.418] Auxiliary shaft axis No.
Set the input axis No. for the auxiliary shaft.
Setting value
0: Invalid
*1
1 to 32: Servo input axis
801 to 804: Synchronous encoder axis
[RD77MS]
801 to 832: Synchronous encoder axis
[RD77GF]
*1 The range from axis 1 to 2 is valid in the 2-axis module, from axis 1 to 4 is valid in the 4-axis module, from axis 1 to 8 is valid in the 8-axis
module, from axis 1 to 16 is valid in the 16-axis module, and from axis 1 to 32 is valid in the 32-axis module.
[Pr.419] Composite auxiliary shaft gear
Set the composite method for input values from the main and auxiliary shafts. The setting values for each axis are shown as
follows.
Setting value
0: No input
1: Input+
2: Input-
Operation assumes "0: No input" if the value is set out of the range from 0 to 2.
The composite method for the composite auxiliary shaft gear can be changed during synchronous control. It is
used as a clutch to switch input values between the main and the auxiliary shafts.
[Pr.420] Auxiliary shaft gear: Numerator, [Pr.421] Auxiliary shaft gear: Denominator
Set the numerator and the denominator for auxiliary shaft gear to convert the input value. The input value is converted as
follows.
Input value after conversion Input value before conversion
=
The input value direction can be reversed by setting a negative value in the numerator of the auxiliary shaft gear.
Set the denominator of the auxiliary shaft gear to a value within the range from 1 to 2147483647.
Details
The input value is always 0.
Set the servo input axis (axis 1 to axis 32). When the servo input axis is not set in the system setting, the input
value is always 0.
If the No. is set to the same value as the output axis, the error "Outside auxiliary shaft No. range" (error code:
1BF0H) occurs and synchronous control cannot be started.
Set the synchronous encoder axis (axis 1 to axis 4 [RD77MS], axis 1 to axis 32 [RD77GF]). When the synchronous
encoder axis is invalid, the input value is always 0.
*1
Details
The input value from the input axis is calculated as 0.
The input value from the input axis is calculated as it is.
The input value from the input axis is calculated with its opposite sign.
[Pr.420] Auxiliary shaft gear: Numerator
×
[Pr.421] Auxiliary shaft gear: Denominator
4 ADVANCED SYNCHRONOUS CONTROL
4.2 Auxiliary Shaft Module
4
103