Mitsubishi Electric MELSEC iQ-R RD78G4 - 4.2 Auxiliary Shaft Module

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4 ADVANCED SYNCHRONOUS CONTROL
4.1 Main Shaft Module
[Pr.410] Movement amount before main shaft clutch OFF
Set the movement amount of the reference address with a signed value between the clutch OFF condition completing and the
clutch opening.
[Pr.411] Main shaft clutch smoothing method
Set the smoothing method for clutch ON/OFF.
Refer to the following.
Page 113 Smoothing method for clutch
[Pr.412] Main shaft clutch smoothing time constant
Set a time constant when the time constant method is set in "[Pr.411] Main shaft clutch smoothing method".
The time constant setting applies for clutch ON/OFF.
[Pr.413] Slippage amount at main shaft clutch ON
Set the slippage amount at clutch ON when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method".
The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address
setting".
If the set amount is negative, the slippage amount at clutch ON is controlled as 0 (direct).
[Pr.414] Slippage amount at main shaft clutch OFF
Set the slippage amount at clutch OFF when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method".
The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address
setting".
If the set amount is negative, the slippage amount at clutch OFF is controlled as 0 (direct).
Setting value Details
1 to 2147483647 (Positive value) Used when the reference address is increasing in direction.
0 No movement amount (The clutch is immediately turned OFF with the clutch OFF condition completing.)
-2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.
Setting value Details
0: Direct No smoothing
1: Time constant method
(Exponent)
Smoothing with an exponential curve based on the time constant setting.
2: Time constant method (Linear) Smoothing with linear acceleration/deceleration based on the time constant setting.
3: Slippage method (Exponent) Smoothing with an exponential curve based on the slippage amount setting.
4: Slippage method (Linear) Smoothing with linear acceleration/deceleration based on the slippage amount setting.
5: Slippage method (Linear: Input
value follow up)
Smoothing with linear acceleration/deceleration based on the slippage amount setting (input value follow up).
t
t
[Pr.410] Movement amount before main shaft clutch OFF
(Positive value)
Movement amount after clutch output
[Md.420] Main shaft clutch
ON/OFF status
Clutch OFF condition is completed
(Example: [Cd.400] Main shaft
clutch command OFF)
[Md.401] Position value per cycle
after main shaft gear
[Md.400] Position value after
composite main shaft gear
or