Mitsubishi Electric MELSEC iQ-R RD78G4 - Output Axis Sub Functions

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4 ADVANCED SYNCHRONOUS CONTROL
4.9 Output Axis Sub Functions
4.9 Output Axis Sub Functions
The following shows which sub functions apply for the output axis in synchronous control.
: Valid, : Invalid
Sub functions for an input axis in synchronous control conform to the specification of each control (home
position return control, positioning control, manual control, speed torque control). Refer to "CONTROL SUB
FUNCTIONS" in the following manual for details.
MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode)
The delay time inherent to the system of a command generation axis is 0, so that the phase compensation
function does not exist.
Sub function Output
axis
Details
Backlash compensation function  The same control as other methods.
Electronic gear function 
Speed limit function  Setting is ignored.
("[Pr.8] Speed limit value" must be set to use "[Pr.446] Synchronous control deceleration time".)
Torque limit function  Controlled with "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value" similar to
other methods.
Software stroke limit function  The axis stops immediately when exceeding the software stroke limit range.
To disable the software stroke limit, set the setting value so that "Upper limit value = Lower limit value".
Hardware stroke limit function  Controlled the same as positioning control.
Forced stop function  The same control as other methods.
Speed change function  Setting is ignored.
Override function 
Acceleration/deceleration time change
function

Torque change function  The same control as other methods.
Absolute system 
Step function  Setting is ignored.
Skip function 
M code output function  M code is not able to output.
Teaching function  Setting is ignored.
Target position change function 
Command in-position function 
Acceleration/deceleration processing
function
 Valid at deceleration stop only.
Deceleration time is set in "[Pr.446] Synchronous control deceleration time".
Pre-reading start function  Setting is ignored.
Deceleration start flag function 
Stop command processing for
deceleration stop function

Speed control 10 x multiplier setting for
degree axis function
 Reflected on monitor data.
Operation setting for incompletion of
home position return function
 Controlled the same as positioning control.
For a system that needs alignment, start synchronous control after establishing a home position.
Servo ON/OFF  Servo OFF request is ignored during synchronous control similar to positioning control.