Mitsubishi Electric MELSEC iQ-R RD78G4 - Method to Restart Synchronous Control

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5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION
5.6 Method to Restart Synchronous Control
5.6 Method to Restart Synchronous Control
The relationship of the synchronous position for synchronous control is always saved in the Motion module. Synchronous
control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through
the synchronous control initial position parameters (Page 144 Synchronous Control Initial Position Parameters).
The reference axis used to restart synchronous control is different for each system. The following procedure shows an
example of how to restore synchronized values based on the servo input axis as reference position.
Example
Restoring 2 output axes (axis 2, axis 3) based on the servo input axis (axis 1) as the reference position. (Press conveyance
device)
■Procedure for synchronous control (first time)
1. Execute home position return for axis 1, 2 and 3, and position to the synchronization starting point.
2. Set the synchronous control initial position parameters for axis 2 and 3 as follows.
3. Turn ON the bits for axis 2 and 3 in "[Cd.380] Synchronous control start" to start synchronous control.
■Procedure for restarting synchronous control
1. Set the synchronous control initial position parameters for axis 2 and 3 as follows.
2. Turn ON the bits for axes 2 and 3 in "[Cd.381] Synchronous control analysis mode", and then turn ON the bits for axes 2
and 3 in "[Cd.380] Synchronous control start" to execute the synchronous control analysis. The analyzed result is
updated in [Md.400] to [Md.425].
3. Position axes 2 and 3 to "[Md.409] Cam axis command position value" which has been updated in 2.
4. Turn OFF the bits for axes 2 and 3 in "[Cd.381] Synchronous control analysis mode", and then turn ON the bits for axes
2 and 3 in "[Cd.380] Synchronous control start" to start synchronous control.
Setting item Setting value
[Pr.460] Setting method of position value per cycle after main shaft gear 2: Calculate from input axis
[Pr.462] Cam axis position restoration object 0: Cam axis position value per cycle restoration
[Pr.463] Setting method of cam reference position 2: Command position value
[Pr.468] Cam axis position value per cycle (Initial setting) 0
Setting item Setting value
[Pr.460] Setting method of position value per cycle after main shaft gear 2: Calculate from input axis
[Pr.462] Cam axis position restoration object 2: Cam axis command position value restoration
[Pr.463] Setting method of cam reference position 0: Previous value
[Pr.464] Setting method of cam axis position value per cycle 2: Position value per cycle after main shaft gear
Main shaft
gear
Axis 3
Axis 1
Main shaft
gear
Axis 2
Axis 1
Pressing position
(Axis 1)
X axis of workpiece
conveyance (Axis 2)
Y axis of workpiece
conveyance (Axis 3)