Mitsubishi Electric LD77MH, Руководство пользователя

Страница: 171 / 238

5 - 3
Chapter 5 Synchronous Control Initial Position
Current value after composite main shaft gear when starting synchronous control
The current value after composite main shaft gear is restored as follows according to the
main input axis operation executed before starting synchronous control.
Operation of main input axis
(Before synchronous control start)
Servo input axis
Synchronous
encoder axis
Absolute position
detection system valid
Absolute position
detection system invalid
OPR Restoration method 1) —
Current value change Restoration method 1) Restoration method 1)
Speed control
(Note-1)
Restoration method 1) —
Fixed-feed control Restoration method 1) —
Speed-position switching control
(Note-1)
Restoration method 1) —
Position-speed switching control
(Note-1)
Restoration method 1) —
Connection to servo amplifier Restoration method 2) Restoration method 1) —
Connection to synchronous
encoder
— Restoration method 1)
Others Restoration method 2) Restoration method 2)
(Note-1): When "[Pr.300] Servo input axis type" is either "1: Feed current value" or "2: Real current value", and
when "[Pr.21] Feed current value during speed control" is "2: Clear feed current value to zero" only.
Restoration method 1): The new current value after composite main shaft gear is
calculated based on the current value of the main input axis.
Current value
after composite
main shaft gear
=
Main input direction of
composite main shaft gear Main input axis
current value
Restoration method 2): The travel value of the main input axis from the last synchronous
control session is reflected to the current value after composite
main shaft gear.
Current value
after composite
main shaft gear
=
Current value after
composite main
shaft gear at the
last synchronous
control session
+
Main input direction of
composite main shaft gear
Amount of change
of main input axis
current value from
the last
synchronous
control session
The current value after composite main shaft gear at the last synchronous control session
is restored when "0: Invalid" is set in "[Pr.400] Main input axis No.", or when a servo input
axis or a synchronous encoder axis as the main input axis is not connected.
REMARK
"The last synchronous control session" indicates status just before the last
synchronous control session was stopped as follows. These are listed with the last
synchronization status.
• Just before "[Cd.380] Synchronous control start" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the system's power supply turned OFF to the Simple Motion module.