6-36
(1) Master/slave synchronized operation
• When performing master/slave operation, use of an F/F gain other than 1.0 will cause a steady-state deviation
to remain between the master and slave. Steady-state deviations can be reduced with the APR gain and F/F
gain, but adjustments made using the F/F gain may cause overshoot.
In order to perform synchronized operation with a master/slave connection, maintain the [FWD] terminal
and contact input signal [SYC] in the "on" state at all times. Doing so will cause the slave unit to operate
in synchronization with the master unit, allowing the slave unit to be stopped in the servo-lock state by
stopping the master.
• Change the slave motor's direction of rotation with [IVS]. Do not use the [REV] terminal.
Pulse train input
from the master unit
[FWD] (slave)
[SYC] (slave)
t1 t2
Amount of deviation
(Between master and
slave)
Slave speed
ON States
ON States
Servo-lock state
Figure 6.2.28
Slave acceleration and deceleration times
The slave motor's acceleration (t1) and deceleration (t2) times will lag slightly behind the master. As
illustrated in the above figure, the slave will operate while maintaining a pulse deviation (steady-state
deviation) relative to the master.
Steady-state deviation
The slave motor will operate while
maintaining a steady deviation relative to the
master. This deviation will be eliminated
when the motor stops, and the motor will
enter the servo-lock state when a deviation of
zero is reached.
This steady-state deviation is the difference
between the number of command pulses from
the master during constant-speed operation
and the number of position detection pulses
for the slave.
The steady-state deviation can be adjusted
with the APR gain and F/F gain. For more
information, see the section on PG interface
expansion card function codes.
Figure 6.2.29
This area indicates the
steady-state deviation that
is maintained during
constant-speed operation.
The steady-state
deviation is eliminated
when the slave stops.
Slave speed
Master speed
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