Mitsubishi Electric M800W Series, Руководство по подключению и настройке

Страница: 626 / 702

M800W/M80W Series Connection and Setup Manual
33 Synchronous Control and Multiple-axis Synchronization Control
587 IB-1501268-K
33.1.3 Simple Synchronous Control
Simple synchronous control is an extension of the synchronous control function. This function enables an axis to be
synchronized with the axis previously defined as master axis for the synchronous control, and another axis to be
synchronized with the slave axis. Backlash can be restrained by distributing load torque imposed on one axis to two
servo motors. When the synchronous control and the simple synchronous control are combined, one axis can be driven
with four servo motors. An axis to be synchronized with is referred to as a "main axis" and an axis which follows the main
axis is referred to as a "sub axis".
This is a control method in which the main axis and the sub axis are controlled in the same position by executing a
position command for the main axis to the sub axis as well. The main points of the method are as follows:
-
The sub axes can be set only for the master axis and the slave axis for the synchronous control.
- The sub axis is controlled with the movement command for the main axis.
- Only one sub axis can be set for the main axis.
- The main axis and the sub axis are controlled at the same position. Therefore, the main axis and the sub axis can
only be used together, while either of the axes can be used singly for single operation and correction mode for the
synchronous control.
- For simple synchronous control, synchronization error between the main axis and the sub axis is not monitored.
- For the main axis and the sub axis, specify the speed command synchronous control or the current command
synchronous control.
(Example) Example of use of the simple synchronous control
33.1.3.1 Zero Point Establishment During Simple Synchronous Control
There are following regulations and cautions regarding the zero point establishment during simple synchronous control.
- For the absolute position detection method (#2049 type), set "2: Marked point alignment method I" or "4: Marked
point alignment method II".
- Apply the same absolute position detection method (#2049 type) to the main axis and the sub axis.
- When the reference point establishment is performed for the master axis and the slave axis (main axis) in
accordance with the zero point initial setting, the reference point for the sub axis is established at the same position.
- The absolute position setting is not available in the sub axis. If "1" is set to "#0 Abs pos set" of the sub axis in "ABS.
POSITION SET" screen, "setting error" will occur.
- If either the main axis or sub axis issued absolute position detection alarm (Z70 0003), the, same error will occur to
the other axis.
33.1.4 Parameter Setting for Synchronous Control
To carry out synchronous control, it is necessary to set the synchronous axes names and the allowable synchronization
error value.
There is a restriction in the settings of the slave axis's axis parameters.
For details, refer to "Synchronous Control Specifications Manual" (BNP-C3072-074).
X
U
V
W
Drive unit
Movement
commands
Synchronous control
Simple synchronous
control
Master axis
(Main axis)
Slave axis
(Main axis)
Sub axis
Sub axis
Servo motor
Table
Simple synchronous
control