Mitsubishi Electric Q172DSCPU, Programming Manual

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2 STARTING UP THE SYSTEM
(6) Status when starting synchronous control
The following signal are turned OFF when starting synchronous control.
• Automatic decelerating flag (M2128+n)
• Positioning start complete (M2400+20n)
• Positioning complete (M2401+20n)
• Command in-position (M2403+20n)
• Speed controlling (M2404+20n)
• Speed/position switching latch (M2405+20n)
• Home position return complete (M2410+20n)
(7) Restrictions
(a) If [Rq.380]Synchronous control start (n) is turned ON
simultaneously in multiple axes, control is not started simultaneously since
the analysis is processed for each axis in numerical order. When the
multiple axes must be started simultaneously, start the input axis operation
after confirming that all axes are configured for the synchronous control.
(b) If the input axis operates during the analysis at the synchronous control
start, the travel value of the input axis is reflected immediately after the
synchronous control start. The output axis might suddenly accelerate
depending on the travel value of the input axis. Start the input axis operation
after confirming that are configured for synchronous control.
(c) The analysis process for synchronous control start might take time
depending on the parameter setting for synchronous control. (Up to 23 ms:
In case of searching the cam (cam resolution: 32768) with the setting "0:
Cam axis current value per cycle restoration" in [Pr.462] Cam axis position
restoration object (150n).)
Set "1: Cam reference position restoration" or "2: Cam axis current feed
value restoration" in [Pr.462] Cam axis position restoration object
(150n) to start synchronous control at high speed.
(d) When the synchronous control parameter is set to the value outside the
setting range, the synchronous control does not start, and the error code
corresponding to each data of error axis is stored in the data register.