Mitsubishi Electric MELSEC iQ-R Series User Manual page 147

Position value after composite main shaft gear at synchronous control start
The position value after composite main shaft gear is restored as follows according to the main input axis operation executed
before starting synchronous control.
Operation of Servo input axis
main input axis
Absolute
(Before
position
synchronous
detection
control start)
system valid
Home position Restoration method 1)
return
Current value Restoration method 1)
change
*1
Speed control Restoration method 1)
Fixed-pitch feed Restoration method 1)
control
Speed-position Restoration method 1)
*1
switching control
Position-speed Restoration method 1)
*1
switching control
Connection to servo Restoration method
*2*3
amplifier 2)
Connection to 
synchronous
encoder
Others Restoration method 2)
*1 When "[Pr.300] Servo input axis type" is either "1: Command position value" or "2: Actual position value", and when "[Pr.21] Command
position value during speed control" is "2: Clear command position value to zero" only.
*2 When the unit setting of servo input axis is set to degree, the value of servo input axis becomes the rounded value within the range of 0
to 359.99999° and the value is restored by the following restoration method 2) using the difference from the position value of servo input
axis at the last synchronous control session.
*3 In the servo input axis, the amount of change cannot be calculated correctly when the axis moves more than 2147483647 (input axis
unit) from the last synchronous control session before the synchronous control start.
*4 In the synchronous encoder axis via CPU, the amount of change cannot be calculated correctly when the axis moves more than
"Resolution of synchronous encoder via CPU" from the last synchronous control session before the synchronous control start.
Restoration method 1): The new position value after composite main shaft gear is calculated based on the current value of the
main input axis.
Position value after composite main shaft gear =
Main input direction of composite main shaft gear  Main input axis current value
Restoration method 2): The movement amount of the main input axis from the last synchronous control session is reflected to
the position value after composite main shaft gear.
Position value after composite main shaft gear =
Position value after composite main shaft gear at the last synchronous control session + Main input direction of composite
main shaft gear  Amount of change of main input axis current value from the last synchronous control session
The position 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.", or when a servo input axis or a synchronous encoder axis as the main input axis is not
connected.
"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 "[Cd.380] Synchronous control start" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the system's power supply turned OFF to the Simple Motion module.
Synchronous encoder axis
Absolute Incremental
position synchronous
detection encoder
system invalid [RD77MS]

Restoration method 1)




Restoration method

1)
Restoration method
1)
Restoration method 2)
5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION
Absolute Synchronous
synchronous encoder via
encoder CPU
Restoration method Restoration method
*4
2) 2)
5.1 Synchronous Control Initial Position
Synchronous
encoder via link
device
[RD77GF]
5
Restoration method
2)
145