Mitsubishi Electric Q Series, Programming Manual

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7 TRANSMISSION MODULE
7.4 Differential Gear
The differential gear is used for the following purposes;
• Output module phase is shifted or alignment of operation start position is executed.
• Individual operation separated from the virtual main shaft is executed.
7.4.1 Operation
(1) When the output module phase is shifted or alignment of the operation start
position is executed.
(a) When the input axis clutch is ON.
The differential gear subtracts the auxiliary input shaft travel value from the
input shaft travel value and transmits this to the output axis.
Output axis
travel value
=
Input axis
travel value
Auxiliary input axis
travel value
[PLS]
Output
module
Drive
module
Output axis
Differential gear
Input axis
Virtual main shaft
Clutch
Auxiliary input axis
(b) When the input axis clutch is OFF.
Individual operation is possible using the auxiliary input axis since the
differential gear transmits only the travel value from the auxiliary input axis to
the output axis.
(2) When the differential gear is used to connect to the virtual main shaft.
This is used for operation in which the main shaft is switched or when the same
drive module is used as auxiliary input to control all blocks.
Virtual main shaft
Differential gear Input axis
Output axis
Drive
module
Auxiliary input axis
Virtual servomotor/
synchronous encoder
Set the different drive modules for virtual main shaft side and auxiliary input axis
side.
7.4.2 Parameters
No parameters need to be set for the differential gear.