Mitsubishi Electric MELSEC iQ-R Series User Manual page 149

[Auxiliary shaft]
Position value per cycle after auxiliary shaft gear =
Position value per cycle after auxiliary shaft gear at the last synchronous control session + Auxiliary shaft gear ratio  Amount
of change of auxiliary shaft current value from the last synchronous control session
The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear at the last synchronous
control session is restored when "0: Invalid" is set in "[Pr.400] Main input axis No."/"[Pr.418] Auxiliary shaft axis No.", or when
a servo input axis or a synchronous encoder axis as the main input axis/auxiliary shaft is not connected.
Cam axis position at synchronous control start
The cam axis position is composed of the relationship of 3 positions "Cam axis position value per cycle", "Cam reference
position" and "Cam axis command position value". One of positions can be restored by defining 2 positions when starting
synchronous control.
Cam axis position value per cycle
Cam axis command position value
Cam reference position
Select from 3 objects as follows in "[Pr.462] Cam axis position restoration object" which position is to be restored.
(Refer to Page 151 Cam Axis Position Restoration Method for details on the restoration method.)
• Cam axis position value per cycle restoration
• Cam reference position restoration
• Cam axis command position value restoration
Various parameters need to be set for the cam axis position restoration as shown below. (Refer to Page 148
Synchronous Control Initial Position Parameters for the setting details.)
: Required, : Required for initial setting value, : Not required
[Pr.462]
Cam axis position
restoration object
0: Cam axis position value per
cycle restoration
1: Cam reference position
restoration
2: Cam axis command position
value restoration
[Pr.463] [Pr.467]
Setting Cam
method of reference
cam position
reference (Initial
position setting)
 
 
 
[Pr.464] [Pr.468]
Setting Cam axis
method of position
cam axis value per
position cycle (Initial
value per setting)
cycle
 
(Used as
search starting
point)
 
 
5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION
5.1 Synchronous Control Initial Position
Restoration processing details
Restore "Cam axis position value per cycle"
based on "Cam reference position" and "Cam
axis command position value".
Restore "Cam reference position" based on
"Cam axis position value per cycle" and "Cam
axis command position value".
Restore "Cam axis command position value"
based on "Cam axis position value per cycle"
and "Cam reference position".
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