5.3 Description of Function Codes 5.3.9 d codes (Applied functions 2)
Immediate synchronization mode at the start operation
With immediate synchronization mode at the start operation (d41 = 2, 4), master-follower operation is performed in
such a way as to maintain the phase difference between the master side and follower side the moment operation
is changed from independent operation to master-follower operation. The follower side speed and position are
controlled to ensure that the deviation between the master side pulse total value and follower side pulse total value
is 0. If the deviation reaches the synchronization complete detection angle (function code d77) or lower, an “SY”
synchronization complete signal is output. Furthermore, if synchronization shifts, and the deviation exceeds the set
deviation overflow value (10 times function code d78), an error alarm occurs, and output is cut off.
If d41 = 4, if a miscount occurs due to such reasons as noise in the total A/B-phase count, error correction is
performed based on the phase difference for the Z-phase.
While the follower side run command is ON, the phase difference continues to be monitored even when the master
side has stopped (provided that operation is not changed to independent operation), and when operation at the
master side resumes, control is performed in such a way as to ensure that the phase difference for the Z-phase is
kept constant again for both the master side and follower side.
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