Personal Computer Embedded Type Servo System Controller. Simple Motion Board User's Manual (Advanced Synchronous Control) -MR-EM340GF

Transcription

1 Personal Compuer Embedded Type Servo Sysem Conroller Simple Moion Board User's Manual (Advanced Synchronous Conrol) -MR-EM340GF

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3 SAFETY PRECAUTIONS (Read hese precauions before using his produc.) Before using his produc, please read his manual and he relevan manuals carefully and pay full aenion o safey o handle he produc correcly. The precauions given in his manual are concerned wih his produc only. In his manual, he safey precauions are classified ino wo levels: " WARNING" and " CAUTION". WARNING CAUTION Indicaes ha incorrec handling may cause hazardous condiions, resuling in deah or severe injury. Indicaes ha incorrec handling may cause hazardous condiions, resuling in minor or moderae injury or propery damage. Under some circumsances, failure o observe he precauions given under " CAUTION" may lead o serious consequences. Observe he precauions of boh levels because hey are imporan for personal and sysem safey. Make sure ha he end users read his manual and hen keep he manual in a safe place for fuure reference. [Design Precauions] WARNING Configure safey circuis exernally o ensure ha he enire sysem operaes safely even when a faul occurs in he personal compuer. Failure o do so may resul in an acciden due o an incorrec oupu or malfuncion. (1) Configure exernal safey circuis, such as an emergency sop circui, proecion circui, and proecive inerlock circui for forward/reverse operaion or upper/lower limi posiioning. (2) If an incorrec home posiion reurn direcion is se, moion conrol may coninue wihou deceleraion. To preven machine damage caused by his, configure an inerlock circui exernal o he Simple Moion board. (3) When he Simple Moion board deecs an error, he moion slows down and sops or he moion rapidly sops, depending on he sop group seing in parameer. Se he parameer o mee he specificaions of a posiioning conrol sysem. In addiion, se he home posiion reurn parameer and posiioning daa wihin he specified seing range. For he operaing saus of each saion afer a communicaion failure, refer o manuals relevan o he nework. Incorrec oupu or malfuncion due o a communicaion failure may resul in an acciden. When modifying daa of a running Simple Moion board, configure an inerlock in he program o ensure ha he enire sysem will always operae safely. For oher forms of conrol (such as program modificaion, parameer change, forced oupu, or operaing saus change) of a running Simple Moion board, read he relevan manuals carefully and ensure ha he operaion is safe before proceeding. Improper operaion may damage machines or cause accidens. Deermine correcive acions o be aken in case of a communicaion failure. Especially, when a remoe Simple Moion board is conrolled, immediae acion canno be aken if a problem occurs in he Simple Moion board due o a communicaion failure. To preven his, configure an inerlock in he program, and deermine correcive acions o be aken in case of a communicaion failure. Do no wrie any daa o he "sysem area" and "wrie-proec area" of he buffer memory in he Simple Moion board. Doing so may cause malfuncion of he Simple Moion board. For he "sysem area", and "wrie-proec area", refer o he user's manual for he Simple Moion board. 1

4 [Design Precauions] WARNING If a communicaion cable is disconneced, he nework may be unsable, resuling in a communicaion failure of muliple saions. Configure an inerlock in he program o ensure ha he enire sysem will always operae safely even if communicaions fail. Failure o do so may resul in an acciden due o an incorrec oupu or malfuncion. To mainain he safey of he Simple Moion board agains unauhorized access from exernal devices via he nework, ake appropriae measures. To mainain he safey agains unauhorized access via he Inerne, ake measures such as insalling a firewall. If safey sandards (ex., robo safey rules, ec.,) apply o he sysem using he Simple Moion board, servo amplifier and servomoor, make sure ha he safey sandards are saisfied. Consruc a safey circui exernally of he Simple Moion board or servo amplifier if he abnormal operaion of he Simple Moion board or servo amplifier differs from he safey direcive operaion in he sysem. [Design Precauions] CAUTION Do no insall he conrol lines or communicaion cables ogeher wih he main circui lines or power cables. Keep a disance of 100 mm or more beween hem. Failure o do so may resul in malfuncion due o noise. Afer he personal compuer is powered on or rebooed, he ime aken for he Simple Moion board o ener he RUN saus varies depending on he sysem configuraion, parameer seings, and/or program size. Design circuis so ha he enire sysem will always operae safely, regardless of he ime. Do no power off or reboo he personal compuer during he seing regisraion. Doing so will make he daa in he flash ROM undefined. The daa need o be se in he buffer memory and o be wrien o he flash ROM again. Doing so may cause malfuncion or failure of he Simple Moion board. [Insallaion Precauions] WARNING Shu off he exernal power supply (all phases) used in he sysem before mouning or removing he Simple Moion board o or from he personal compuer. Failure o do so may resul in elecric shock or cause he Simple Moion board o fail or malfuncion. Do no ouch any connecors while power is on. Doing so may cause elecric shock or malfuncion. 2

5 [Insallaion Precauions] CAUTION Use he Simple Moion board in an environmen ha mees he general specificaions in he Simple Moion Board User's Manual. Failure o do so may resul in elecric shock, fire, malfuncion, or damage o or deerioraion of he produc. Fix he Simple Moion board securely wih he board-fixing screw. Tighen he screws wihin he specified orque range. Underighening can cause drop of he screw, shor circui, or malfuncion. Overighening can damage he screw and/or Simple Moion board, resuling in drop, shor circui, or malfuncion. For he ighening orque of he board-fixing screws, refer o he manual supplied wih he personal compuer. Do no direcly ouch any conducive pars and elecronic componens of he Simple Moion board. Hold he fron panel or edge of he prin board. No holding by he fron panel or edges may cause malfuncion or failure of he Simple Moion board. Do no disassemble or modify he Simple Moion board. Doing so may cause failure, malfuncion, injury, or a fire. Before handling he Simple Moion board, ouch a conducing objec such as a grounded meal o discharge he saic elecriciy from he human body. Failure o do so may cause he Simple Moion board o fail or malfuncion. Insall he Simple Moion board o a personal compuer which is complian wih PCI Express sandard. Failure o do so may cause a failure or malfuncion. Securely inser he Simple Moion board ino he slo following he board insallaion insrucion of he personal compuer. Incorrec inserion of he Simple Moion board may cause malfuncion, failure, or drop of he board. When insalling he Simple Moion board, ake care no o conac wih oher boards. When insalling he Simple Moion board, ake care no o ge injured by an implemened componen or a surrounding member. Handle he Simple Moion board in a place where saic elecriciy will no be generaed. Failure o do so may cause a failure or malfuncion. The Simple Moion board is included in an anisaic envelope. When soring or ransporing i, be sure o pu i in he anisaic envelope. Failure o do so may cause a failure or malfuncion. Do no drop or apply a srong impac o he Simple Moion board. Doing so may cause a failure or malfuncion. [Wiring Precauions] WARNING Shu off he exernal power supply (all phases) used in he sysem before insallaion and wiring. Failure o do so may resul in elecric shock or damage o he Simple Moion board. Afer insallaion and wiring, aach he cover of he equipmen he Simple Moion board is insalled o before urning i on for operaion. Failure o do so may resul in elecric shock. 3

6 [Wiring Precauions] CAUTION Ground he conrollers, servo amplifiers and servo moors embedded wih a Simple Moion board wih a ground resisance of 100 ohm or less. Do no use a common grounding wih oher equipmen. Check he raed volage and signal layou before wiring o he Simple Moion board, and connec he cables correcly. Connecing a power supply wih a differen volage raing or incorrec wiring may cause fire or failure. Connecors mus be correcly conneced. Incomplee connecions may cause shor circui, fire, or malfuncion. Securely connec he connecor o he Simple Moion board. Poor conac may cause malfuncion. Do no insall he conrol lines or communicaion cables ogeher wih he main circui lines or power cables. Keep a disance of 100 mm or more beween hem. Failure o do so may resul in malfuncion due o noise. Place he cables in a duc or clamp hem. If no, dangling cable may swing or inadverenly be pulled, resuling in damage o he Simple Moion board or cables or malfuncion due o poor conac. Check he inerface ype and correcly connec he cable. Incorrec wiring (connecing he cable o an incorrec inerface) may cause failure of he Simple Moion board and exernal device. When disconnecing he cable from he Simple Moion board, do no pull he cable by he cable par. For he cable wih connecor, hold he connecor par of he cable. Pulling he cable conneced o he Simple Moion board may resul in malfuncion or damage o he Simple Moion board or cable. Preven foreign maer such as dus or wire chips from enering he personal compuer. Such foreign maer can cause a fire, failure, or malfuncion. For Eherne cables o be used in he sysem, selec he ones ha mee he specificaions in he user's manual of he Simple Moion board. If no, normal daa ransmission is no guaraneed. [Sarup and Mainenance Precauions] WARNING Shu off he exernal power supply (all phases) used in he sysem before cleaning or reighening he board-fixing screws. Failure o do so may resul in elecric shock or malfuncion. Turn off he exernal power supply for he sysem in all phases before insalling he Simple Moion board o or removing i from he personal compuer. Failure o do so may resul in elecric shock or cause he Simple Moion board o fail or malfuncion. Do no connec or disconnec any communicaion cable while power is on. Doing so may resul in a malfuncion. 4

7 [Sarup and Mainenance Precauions] CAUTION When modifying daa of a running Simple Moion board, configure an inerlock in he program o ensure ha he enire sysem will always operae safely. For oher forms of conrol (such as program modificaion, parameer change, forced oupu, or operaing saus change) of a running Simple Moion board, read he relevan manuals carefully and ensure ha he operaion is safe before proceeding. Improper operaion may damage machines or cause accidens. Deermine correcive acions o be aken in case of a communicaion failure. Especially, when a remoe Simple Moion board is conrolled, immediae acion canno be aken if a problem occurs in he Simple Moion board due o a communicaion failure. To preven his, configure an inerlock in he program, and deermine correcive acions o be aken in case of a communicaion failure. Do no disassemble or modify he Simple Moion board. Doing so may cause failure, malfuncion, injury, or a fire. Use any radio communicaion device such as a cellular phone or PHS (Personal Handyphone Sysem) more han 25 cm away in all direcions from he Simple Moion board. Failure o do so may cause malfuncion. Shu off he exernal power supply (all phases) used in he sysem before mouning or removing he Simple Moion board. Failure o do so may cause he Simple Moion board o fail or malfuncion. Tighen he board-fixing screws wihin he specified orque range. Underighening can cause drop of he componen or wire, shor circui, or malfuncion. Overighening can damage he screw and/or Simple Moion board, resuling in drop, shor circui, or malfuncion. For he ighening orque of he board-fixing screws, refer o he manual supplied wih he personal compuer. Afer he firs use of he produc, do no moun/remove he Simple Moion board o/from he personal compuer more han 50 imes. Exceeding he limi of 50 imes may cause malfuncion. Mainenance mus be performed by qualified mainenance personnel wih knowledge. Before handling he Simple Moion board, ouch a conducing objec such as a grounded meal o discharge he saic elecriciy from he human body. Failure o do so may cause he Simple Moion board o fail or malfuncion. The Simple Moion board is included in an anisaic envelope. When soring or ransporing i, be sure o pu i in he anisaic envelope. Failure o do so may cause a failure or malfuncion. The microprocessor buil in he Simple Moion board will reach a high emperaure during operaion. Do no ouch i direcly when replacing he Simple Moion board. Doing so may resul in a burn. Before esing he operaion, se a low speed value for he speed limi parameer so ha he operaion can be sopped immediaely upon occurrence of a hazardous condiion. Confirm and adjus he program and each parameer before operaion. Unpredicable movemens may occur depending on he machine. When using he absolue posiion sysem funcion, on saring up, and when he Simple Moion board or absolue posiion moor has been replaced, always perform a home posiion reurn. Before saring he operaion, confirm he brake funcion. Do no perform a megger es (insulaion resisance measuremen) during inspecion. Afer mainenance and inspecions are compleed, confirm ha he posiion deecion of he absolue posiion deecion funcion is correc. Exreme adjusmens and changes may lead o unsable operaion, so never make hem. 5

8 [Sarup and Mainenance Precauions] CAUTION Do no place he Simple Moion board or servo amplifier on meal ha may cause a power leakage or wood, plasic or vinyl ha may cause saic elecriciy buildup. Doing so can cause malfuncion or failure of he Simple Moion board. [Operaing Precauions] CAUTION When changing daa and operaing saus, and modifying program of he running Simple Moion board, read relevan manuals carefully and ensure he safey before operaion. Incorrec change or modificaion may cause sysem malfuncion, damage o he machines, or accidens. Do no power off or reboo he personal compuer while he seing values in he buffer memory are being wrien o he flash ROM in he Simple Moion board. Doing so will make he daa in he flash ROM undefined. The values need o be se in he buffer memory and wrien o he flash ROM again. Doing so also can cause malfuncion or failure of he Simple Moion board. Noe ha when he reference axis speed is specified for inerpolaion operaion, he speed of he parner axis (2nd, 3rd, or 4h axis) may exceed he speed limi value. Do no go near he machine during es operaions or during operaions such as eaching. Doing so may lead o injuries. [Disposal Precauions] CAUTION When disposing of his produc, rea i as indusrial wase. [Transporaion Precauions] CAUTION The halogens (such as fluorine, chlorine, bromine, and iodine), which are conained in a fumigan used for disinfecion and pes conrol of wood packaging maerials, may cause failure of he produc. Preven he enry of fumigan residues ino he produc or consider oher mehods (such as hea reamen) insead of fumigaion. The disinfecion and pes conrol measures mus be applied o unprocessed raw wood. The Simple Moion board is a precision machine, so do no drop or apply srong impacs on i. 6

9 CONDITIONS OF USE FOR THE PRODUCT (1) Misubishi Simple Moion board ("he PRODUCT") shall be used in condiions; i) where any problem, faul or failure occurring in he PRODUCT, if any, shall no lead o any major or serious acciden; and ii) where he backup and fail-safe funcion are sysemaically or auomaically provided ouside of he PRODUCT for he case of any problem, faul or failure occurring in he PRODUCT. (2) The PRODUCT has been designed and manufacured for he purpose of being used in general indusries. MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY he PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR he PRODUCT. ("Prohibied Applicaion") Prohibied Applicaions include, bu no limied o, he use of he PRODUCT in; Nuclear Power Plans and any oher power plans operaed by Power companies, and/or any oher cases in which he public could be affeced if any problem or faul occurs in he PRODUCT. Railway companies or Public service purposes, and/or any oher cases in which esablishmen of a special qualiy assurance sysem is required by he Purchaser or End User. Aircraf or Aerospace, Medical applicaions, Train equipmen, ranspor equipmen such as Elevaor and Escalaor, Incineraion and Fuel devices, Vehicles, Manned ransporaion, Equipmen for Recreaion and Amusemen, and Safey devices, handling of Nuclear or Hazardous Maerials or Chemicals, Mining and Drilling, and/or oher applicaions where here is a significan risk of injury o he public or propery. Nowihsanding he above, resricions Misubishi may in is sole discreion, auhorize use of he PRODUCT in one or more of he Prohibied Applicaions, provided ha he usage of he PRODUCT is limied only for he specific applicaions agreed o by Misubishi and provided furher ha no special qualiy assurance or fail-safe, redundan or oher safey feaures which exceed he general specificaions of he PRODUCTs are required. For deails, please conac he Misubishi represenaive in your region. INTRODUCTION Thank you for purchasing he personal compuer embedded ype servo sysem conrollers. This manual describes he funcions and programming of he relevan producs lised below. Before using his produc, please read his manual and he relevan manuals carefully and develop familiariy wih he funcions and performance of he personal compuer embedded ype servo sysem conroller o handle he produc correcly. When applying he program examples provided in his manual o an acual sysem, ensure he applicabiliy and confirm ha i will no cause sysem conrol problems. Please make sure ha he end users read his manual. Relevan producs MR-EM340GF Symbols used in his manual are shown below. A serial No. is insered in he "**" mark. [Pr.**]: Symbols indicaing posiioning parameer or home posiion reurn parameer iems [Da.**]: Symbols indicaing posiioning daa or block sar daa iems [Md.**]: Symbols indicaing monior daa iems [Cd.**]: Symbols indicaing conrol daa iems 7

10 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES Mehod of ensuring compliance To ensure ha his produc mainains EMC and Low Volage Direcives, please refer o he following manual. Simple Moion Board User's Manual (Sarup) 8

11 CONTENTS SAFETY PRECAUTIONS CONDITIONS OF USE FOR THE PRODUCT INTRODUCTION COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES RELEVANT MANUALS TERMS CHAPTER 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL Ouline of Synchronous Conrol Performance Specificaions Operaion Mehod of Synchronous Conrol Synchronous conrol execuion procedure Saring/ending for synchronous conrol Sop operaion of oupu axis CONTENTS CHAPTER 2 INPUT AXIS MODULE Servo Inpu Axis Overview of servo inpu axis Servo inpu axis parameers Servo inpu axis monior daa Synchronous Encoder Axis Overview of synchronous encoder axis Seing mehod for synchronous encoder Synchronous encoder axis parameers Synchronous encoder axis parameers via link device Synchronous encoder axis conrol daa Synchronous encoder axis monior daa CHAPTER 3 CAM FUNCTION Conrol Deails for Cam Funcion Creae Cam Daa Memory configuraion of cam daa Cam daa operaion funcion Cam auo-generaion funcion CHAPTER 4 ADVANCED SYNCHRONOUS CONTROL Main Shaf Module Overview of main shaf module Main shaf parameers Main shaf cluch parameers Main shaf cluch conrol daa Auxiliary Shaf Module Overview of auxiliary shaf module Auxiliary shaf parameers Auxiliary shaf cluch parameers Auxiliary shaf cluch conrol daa Cluch Overview of cluch

12 Conrol mehod for cluch Smoohing mehod for cluch Use example of cluch Speed Change Gear Module Overview of speed change gear module Speed change gear parameers Oupu Axis Module Overview of oupu axis module Oupu axis parameers Synchronous Conrol Change Funcion Overview of synchronous conrol change funcion Synchronous conrol change conrol daa Synchronous Conrol Monior Daa Phase Compensaion Funcion Oupu Axis Sub Funcions CHAPTER 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION Synchronous Conrol Iniial Posiion Synchronous Conrol Iniial Posiion Parameers Cam Axis Posiion Resoraion Mehod Cam axis curren value per cycle resoraion Cam reference posiion resoraion Cam axis feed curren value resoraion Synchronous Conrol Analysis Mode Cam Posiion Calculaion Funcion Cam posiion calculaion conrol daa Cam posiion calculaion monior daa Mehod o Resar Synchronous Conrol APPENDICES 151 Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) Appendix 2 Sample Program of Synchronous Conrol INDEX 166 REVISIONS WARRANTY TRADEMARKS

13 RELEVANT MANUALS Manual name [manual number] Descripion Available form Simple Moion Board User's Manual (Advanced Synchronous Conrol) [IB ] (This manual) Simple Moion Board User's Manual (Sarup) [IB ] Simple Moion Board User's Manual (Applicaion) [IB ] Simple Moion Board User's Manual (Nework) [IB ] Simple Moion Board User's Manual (API Library) [IB ] Funcions and programming for he synchronous conrol of he Simple Moion board Specificaions, procedures before operaion, sysem configuraion, wiring, and operaion examples of he Simple Moion board Funcions, inpu/oupu signals, buffer memory, parameer seings, programming, and roubleshooing of he Simple Moion board Funcions, parameer seings, roubleshooing and buffer memory of CC-Link IE Field Nework API library and ohers ha he hos personal compuer uses o conrol he Simple Moion board Prin book e-manual PDF Prin book e-manual PDF Prin book e-manual PDF Prin book e-manual PDF Prin book e-manual PDF e-manual refers o he Misubishi FA elecronic book manuals ha can be browsed using a dedicaed ool. e-manual has he following feaures: Required informaion can be cross-searched in muliple manuals. Oher manuals can be accessed from he links in he manual. The hardware specificaions of each par can be found from he produc figures. Pages ha users ofen browse can be bookmarked. 11

14 TERMS Unless oherwise specified, his manual uses he following erms. Term API library Axis Buffer memory CC-Link IE Field Nework Device EM Configuraor Hos personal compuer Label Link device Link scan (Link scan ime) MR-EM340GF MR-J4-GF MR-J4-GF-RJ Operaion cycle Remoe inpu (RX) Remoe oupu (RY) Remoe regiser (RWr) Remoe regiser (RWw) Servo amplifier Simple Moion board User program Descripion A general name for he library ha creaes he applicaion on he hos personal compuer conrolling he Simple Moion board Anoher erm for a servo amplifier A memory in he Simple Moion board, where daa (such as seing values and monioring values) are sored A high-speed and large-capaciy open field nework ha is based on Eherne (1000BASE-T) A device (X, Y, RX, RY, or ohers) in he Simple Moion board A produc name for sar-up and examinaion ool for Simple Moion board A general name for a personal compuer which operaes user programs A label ha represens one of memory areas (I/O signals and buffer memory areas) specific o he Simple Moion board in a given characer sring A device (RX, RY, RWr, or RWw) in a module on CC-Link IE Field Nework Time required for all he saions on he nework o ransmi daa.the link scan ime depends on daa volume and he number of ransien ransmission requess. Anoher erm for he Simple Moion board compaible wih CC-Link IE Field Nework MR-J4-_GF_(-RJ) Servo amplifier series MR-J4-_GF_-RJ Servo amplifier series A moion operaion cycle ha is se in he iner-module synchronizaion cycle seing of he Simple Moion board Bi daa inpu from a slave saion o he maser saion (For some areas in a local saion, daa are oupu in he opposie direcion.) Bi daa oupu from he maser saion o a slave saion (For some areas in a local saion, daa are oupu in he opposie direcion.). Word daa inpu from a slave saion o he maser saion (For some areas in a local saion, daa are oupu in he opposie direcion.). Word daa oupu from he maser saion o a slave saion (For some areas in a local saion, daa are oupu in he opposie direcion.). A generic erm for a drive uni Unless specified in paricular, indicaes he moor driver uni of he sequenial command mehod which is conrolled by he Simple Moion board (belonging o own saion). The abbreviaion for he personal compuer embedded ype servo sysem conroller Simple Moion board A general name for applicaions using he API library 12

15 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1 The ouline, specificaions and he operaion mehod of synchronous conrol using he Simple Moion board are explained in his chaper. This chaper helps o undersand wha can be done using he posiioning sysem and which procedure o use for a specific purpose. 1.1 Ouline of Synchronous Conrol "Synchronous conrol" can be achieved using sofware insead of conrolling mechanically wih gear, shaf, speed change gear or cam, ec. "Synchronous conrol" synchronizes movemen wih he inpu axis (servo inpu axis or synchronous encoder axis), by seing "he advanced synchronous conrol parameers" and saring synchronous conrol on each oupu axis. Synchronous Posiioning sar encoder Synchronous conrol sar Synchronous conrol sar Synchronous conrol sar Manual pulse generaor/ Synchronous encoder inpu Simple Moion board Posiioning daa Posiioning conrol Synchronous encoder axis parameer Synchronous encoder axis Servo inpu axis parameer Servo inpu axis *1 Main shaf (main inpu axis) Auxiliary shaf gear Main shaf (sub inpu axis) Auxiliary shaf cluch Synchronous parameer Composie Main shaf gear main shaf gear Speed change gear *2 Main shaf cluch Speed change gear *2 Composie auxiliary shaf gear Speed change gear *2 Cam daa Auxiliary shaf axis Oupu axis Cam Servo amplifier Servo amplifier Servo amplifier Servo amplifier Servo moor Servo moor Servo moor Servo moor I is possible o conrol wihou amplifier by seing he virual servo amplifier. *1 I is possible o drive he servo inpu axis excep for he posiioning conrol (home posiion reurn, manual conrol, speed-orque conrol, synchronous conrol). For deails on he posiioning conrol, he home posiion reurn, he manual conrol and he speed-orque conrol, refer o he following. Simple Moion Board User's Manual (Applicaion) *2 Speed change gear can be arranged on one of "Main shaf side", "Auxiliary shaf side" or "Afer composie auxiliary shaf gear". 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.1 Ouline of Synchronous Conrol 13

16 Lis of synchronous conrol module The module is used in synchronous conrol as follows. Inpu axis module Synchronous encoder axis parameer Synchronous encoder axis Servo inpu axis parameer Servo inpu axis Main shaf module Main shaf Composie main (main inpu axis) shaf gear Main shaf (sub inpu axis) Synchronous parameer Main shaf gear Main shaf cluch Auxiliary shaf gear Auxiliary shaf cluch Composie auxiliary shaf gear Speed change gear Speed change gear module Cam daa Auxiliary shaf axis Auxiliary shaf module Cam Oupu axis Oupu axis module Inpu axis module can be se o one of servo inpu axis or synchronous encoder axis. Speed change gear can be arranged on one of main shaf side, auxiliary shaf side or afer composie auxiliary shaf gear. Se he movemen amoun of inpu axis module as large as possible o preven he speed flucuaion of oupu axis module in he synchronous conrol. If he movemen amoun of inpu axis module is small, he speed flucuaion of oupu axis module may occur depending on he seing for advanced synchronous parameer. The following iems can be moniored in he "Synchronous Conrol Image" window using he EM Configuraor; each synchronous conrol monior daa and he roaion direcion of main shaf main inpu axis, main shaf sub inpu axis, auxiliary shaf axis, and oupu axis (cam axis feed curren value) Inpu axis Classificaion Name Pars Funcion descripion Maximum number of usable Reference Inpu axis module Servo inpu axis Synchronous encoder axis Used o drive he inpu axis wih he posiion of he servomoor conrolled by he Simple Moion board. Used o drive he inpu axis wih inpu pulse from he synchronous encoder. Number per board Number per axis 16 Page 24 Servo Inpu Axis 16 Page 31 Synchronous Encoder Axis 14 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.1 Ouline of Synchronous Conrol

17 Oupu axis Classificaion Name Pars Funcion descripion Maximum number of usable Reference Main shaf module Main shaf main inpu axis The inpu axis on he main side of he main shaf module. The reference posiion on he main shaf. Number per board Number per axis 16 1 Page 77 Main Shaf Module 1 Main shaf sub inpu axis Composie main shaf gear Main shaf gear The inpu axis on he sub side of he main shaf module. I is used o inpu he compensaion amoun for he posiion of he main shaf main inpu axis. The composie movemen amoun of he main shaf main inpu axis and he main shaf sub inpu axis are ransmied o he main shaf gear. The convering movemen amoun afer composie main shaf gear is ransmied by he seing gear raio Page 77 Main Shaf Module 16 1 Page 77 Main Shaf Module 16 1 Page 77 Main Shaf Module Auxiliary shaf module Main shaf cluch Auxiliary shaf axis The movemen amoun of he main shaf is ransmied by he cluch ON/OFF Page 77 Main Shaf Module Page 94 Cluch The inpu axis of he auxiliary shaf module Page 86 Auxiliary Shaf Module Auxiliary shaf gear The convering movemen amoun of he auxiliary shaf is ransmied by he seing gear raio Page 86 Auxiliary Shaf Module Auxiliary shaf cluch The movemen amoun of he auxiliary shaf is ransmied by he cluch ON/OFF Page 86 Auxiliary Shaf Module Page 94 Cluch Composie auxiliary shaf gear The composie movemen amoun of he main shaf and he auxiliary shaf are ransmied Page 86 Auxiliary Shaf Module Speed change gear module Speed change gear I is used o change he speed by seing speed change raio during he operaion Page 107 Speed Change Gear Module Oupu axis module Oupu axis The cam conversion is processed based on he inpu movemen amoun and he seing cam daa. The feed curren value is oupu as he command o he servo amplifier Page 109 Oupu Axis Module Cam daa Classificaion Name Funcion descripion Maximum number of usable Cam daa Cam daa I conrols he operaion paern of he oupu axis (wo-way operaion and feed operaion), which is corresponding o he inpu movemen amoun of he oupu axis module. Number per board Up o 1024 Reference Page 53 CAM FUNCTION 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.1 Ouline of Synchronous Conrol 15

18 1.2 Performance Specificaions Performance specificaions Iem Number of seable axes Inpu axis Servo inpu axis 16 axes/board Synchronous encoder axis 16 axes/board Composie main shaf gear 1/oupu axis Main shaf main inpu axis 1 axis/oupu axis Main shaf sub inpu axis 1 axis/oupu axis Main shaf gear 1/oupu axis Main shaf cluch 1/oupu axis Auxiliary shaf 1 axis/oupu axis Auxiliary shaf gear 1/oupu axis Auxiliary shaf cluch 1/oupu axis Composie auxiliary shaf gear 1/oupu axis Speed change gear 1/oupu axis Oupu axis (Cam axis) 16 axes/board Cam specificaions Iem Specificaion Memory capaciy *1 Cam sorage area 3M byes Cam open area 16M byes Number of cam regisraion *2 Up o 1024 (Dependen on memory capaciy, cam resoluion and coordinae number) Commen Up o 32 characers per cam daa Cam daa Sroke raio daa forma Cam resoluion 256/512/1024/2048/4096/8192/16384/32768 Sroke raio o [%] Coordinae daa forma Coordinae number 2 o Coordinae daa Inpu value: 0 o Oupu value: o *1 Cam daa capaciy can be calculaed using EM Configuraor. *2 The maximum number of cam regisraion by he cam resoluion is shown below. (In case i creaed by he same cam resoluion.) 16 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.2 Performance Specificaions

19 Sroke raio daa forma Cam resoluion Maximum number of cam regisraion Cam sorage area Coordinae daa forma Coordinae number Maximum number of cam regisraion Cam sorage area Cam open area Cam open area 1 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.2 Performance Specificaions 17

20 Cam operaion specificaions Iem Operaion mehod of cam daa Cam auo-generaion funcion Cam posiion calculaion funcion Specificaion (1) EM Configuraor Wrie/read/verify o cam sorage area (2) Via buffer memory (Cam daa operaion funcion) Wrie/read o cam sorage area and cam open area Auomaically generae he following cams. Cam for roary cuer (cenral reference) Easy sroke raio cam Advanced sroke raio cam Calculae he cam posiion by he user program. Used o calculae he cam posiion for he synchronous conrol iniial posiion before saring synchronous conrol. Synchronous encoder axis specificaions Iem Number of conrol axes 16 Synchronous encoder axis ype Conrol uni Specificaion Synchronous encoder via servo amplifier/ Synchronous encoder via buffer memory/ Synchronous encoder via link device mm, inch, degree, pulse (Possible o selec he decimal places of posiion uni and speed uni) Uni conversion Numeraor o [Synchronous encoder axis posiion uni] Denominaor 1 o [pulse] Lengh per cycle seing range 1 o [Synchronous encoder axis posiion uni] Curren value range Curren value o [Synchronous encoder axis posiion uni] Curren value per cycle 0 o (Lengh per cycle - 1) [Synchronous encoder axis posiion uni] Conrol mehod Conrol insrucion Curren value change, Couner disable, Couner enable Curren value seing address Address seing range: o [Synchronous encoder axis posiion uni] 18 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.2 Performance Specificaions

21 1.3 Operaion Mehod of Synchronous Conrol Synchronous conrol execuion procedure 1 The synchronous conrol is execued using he following procedure. Preparaion STEP 1 *1 Se he following parameers. Common parameers ([Pr.82], [Pr.152]) Posiioning parameers ([Pr.1] o [Pr.4], [Pr.7] o [Pr.22], [Pr.25] o [Pr.41], [Pr.81], [Pr.83], [Pr.84], [Pr.90], [Pr.116] o [Pr.119], [Pr.122], [Pr.123]) Se "inpu axis parameers" for advanced synchronous conrol. ([Pr.300] o [Pr.304], [Pr.320] o [Pr.329], [Pr.710] o [Pr.714], [Pr.1010] o [Pr.1013]) One of he following wo mehods can be used. <Mehod 1> Direcly se (wrie) he parameers in he Simple Moion board using EM Configuraor. <Mehod 2> Se (wrie) he parameers from he hos personal compuer o he Simple Moion board using he user program. *2 Se he cam daa. *3 Se "synchronous parameers" for advanced synchronous conrol. ([Pr.400] o [Pr.468]) STEP 2 *4 Creae a user program ha execues o sar / change conrol / sop synchronous conrol. (Se "[Cd.380]Synchronous conrol sar", sar and sop he inpu axis operaion and change he reducion raio) STEP 3 Perform he following STEPs using he user program creaed in STEP 1 and STEP 2. Sar synchronous conrol STEP 4 Turn ON he synchronous conrol sar bi for he axis ha sars synchronous conrol. Turn ON he arge axis bi in "[Cd.380] Synchronous conrol sar" and sar synchronous conrol by he user program in STEP 2. Verify ha i is during synchronous conrol. Verify ha i is during synchronous conrol in "[Md.26] Axis operaion saus". Operae he inpu axis. Operae he inpu axis by he user program in STEP 2. Monior he synchronous conrol change STEP 5 Monior he synchronous conrol operaion saus. Execue he conrol change for he speed change raio, cam No., ec. Monior using EM Configuraor. Changing he conrol by he user program in STEP 2. Complee synchronous conrol STEP 6 Sop he inpu axis. Verify he inpu axis is sopped and urn OFF he synchronous conrol sar bi for he axis ha sops synchronous conrol. Sop he inpu axis by he user program in STEP 2. Turn OFF he arge axis bi in "[Cd.380] Synchronous conrol sar" o sop synchronous conrol by he user program in STEP 2. End of conrol *1 Page 24 INPUT AXIS MODULE *2 Page 53 CAM FUNCTION *3 Page 77 ADVANCED SYNCHRONOUS CONTROL, Page 129 Synchronous Conrol Iniial Posiion Parameers *4 Page 162 Sample Program of Synchronous Conrol 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol 19

22 Precauions Mechanical elemens such as limi swiches are considered as already insalled. Parameer seings for posiioning conrol apply for all axes wih he Simple Moion board. Be sure o execue he home posiion reurn when he home posiion reurn reques flag is ON. Saring/ending for synchronous conrol Se he advanced synchronous conrol parameers for each oupu axis o sar synchronous conrol. The saus changes o synchronous conrol afer he advanced synchronous conrol parameers are analyzed a he sar of synchronous conrol, and he oupu axes synchronize wih inpu axis operaions. [Cd.380] Synchronous conrol sar (Targe axis bi) BUSY signal [Md.26] Axis operaion saus Sandby (0) Analyzing (5) Synchronous conrol (15) Sandby (0) [Md.321] Synchronous encoder axis curren value per cycle [Md.407] Cam axis curren value per cycle [Md.20] Feed curren value Synchronous conrol sysem conrol daa Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.380] Synchronous conrol sar Synchronous conrol begins if he arge axis bi is urned ON. Synchronous conrol ends if he bi is urned OFF during synchronous conrol. Fech cycle: Operaion cycle Se he arge axis in 16 bis. (bi0: axis 1 o bi15: axis 16) OFF : Synchronous conrol end ON : Synchronous conrol sar For labels, refer o he following. Page 156 Synchronous conrol sysem conrol daa Saring mehod for synchronous conrol Synchronous conrol can be sared by urning he arge axis bi from OFF o ON in "[Cd.380] Synchronous conrol sar" afer seing he advanced synchronous conrol parameers. "5: Analyzing" is se in "[Md.26] Axis operaion saus" a he synchronous conrol sar, and he advanced synchronous conrol parameers are analyzed. The BUSY signal urns ON afer compleion of analysis, and "15: Synchronous conrol" is se in "[Md.26] Axis operaion saus". Sar he inpu axis operaion afer confirming ha "15: Synchronous conrol" is se in "[Md.26] Axis operaion saus". [API library] To sar he synchronous conrol, use he MMC_Axis::SarSync mehod OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol

23 Ending mehod for synchronous conrol Synchronous conrol can be ended by urning he arge axis bi from ON o OFF in "[Cd.380] Synchronous conrol sar" afer he inpu axis operaion is sopped. The BUSY signal urns OFF a he synchronous conrol end, and "0: Sandby" is se in "[Md.26] Axis operaion saus" a he oupu axis sop. Synchronous conrol can also be ended by urning he arge axis bi from ON o OFF in "[Cd.380] Synchronous conrol sar" during he inpu axis operaion. However, i is recommended o end afer sopping he inpu axis operaion since he oupu axis sops immediaely. Refer o he following for he sop operaion of oupu axis a he synchronous conrol end. Page 22 Sop operaion of oupu axis 1 [API library] To complee he synchronous conrol, use he MMC_Axis::SopSync mehod. Saring hisory The saring hisory is updaed when saring synchronous conrol. "9020: Synchronous conrol operaion" is sored in "[Md.4] Sar No.". Saus when saring synchronous conrol The following bis in "[Md.31] Saus" are urned OFF when saring synchronous conrol in he same way as for he posiioning conrol sar. Bi b0 b1 b2 b4 b5 b10 Deails In speed conrol flag Speed-posiion swiching lach flag Command in-posiion flag Home posiion reurn complee flag Posiion-speed swiching lach flag Speed change 0 flag If bi for muliple axes are urned ON simulaneously in "[Cd.380] Synchronous conrol sar", conrol is no sared simulaneously since he analysis is processed for each axis in numerical order. When he muliple axes mus be sared simulaneously, sar he inpu axis operaion afer confirming ha all axes are configured for he synchronous conrol. If he inpu axis operaes during he analysis a he synchronous conrol sar, he movemen amoun of he inpu axis is refleced immediaely afer he synchronous conrol sar. The oupu axis migh rapidly accelerae depending on he movemen amoun of he inpu axis. Sar he inpu axis operaion afer confirming ha are configured for synchronous conrol. The analysis process for synchronous conrol sar migh ake ime depending on he seing of he advanced synchronous conrol parameers. (When "0: Cam axis curren value per cycle resoraion" is se in "[Pr.462] Cam axis posiion resoraion objec" and he cam (cam resoluion: 32768) is searched: 26 ms, When "0: Cam axis curren value per cycle resoraion" is se in "[Pr.462] Cam axis posiion resoraion objec" and he cam (cam resoluion: 256) is searched: 0.4 ms) Se "1: Cam reference posiion resoraion" or "2: Cam axis feed curren value resoraion" in "[Pr.462] Cam axis posiion resoraion objec" o sar synchronous conrol a high speed. When he advanced synchronous conrol parameers are se o he value ouside he seing range, he synchronous conrol does no sar, and he inpu axis error No. is sored in he monior daa. 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol 21

24 Sop operaion of oupu axis If he following causes occur in sopping he oupu axis during synchronous conrol, synchronous conrol is compleed afer sops processing for he oupu axis (BUSY signal is OFF, axis operaion saus is sandby). Synchronous alignmen mus be execued for he oupu axis o resar he synchronous conrol. ( Page 109 Oupu Axis Module) Sop cause The arge axis bi of "[Cd.380] Synchronous conrol sar" is urned from ON o OFF. Sofware sroke limi error occurrence Emergency sop Forced sop Sop group1 o 3 *1 (Sop wih hardware sroke limi or sop command) Sop process Immediae sop Deceleraion sop *1 Refer o he following for deails. Simple Moion Board User's Manual (Applicaion) Immediae sop The operaion sops wihou decelerae. The Simple Moion board immediaely sops he command, bu he operaion will coas for he droop pulses accumulaed in he deviaion couner of he servo amplifier. [Md.407] Cam axis curren value per cycle [Md.20] Feed curren value (Cam operaion) [Md.22] Feedrae [Cd.380] Synchronous conrol sar (Targe axis bi) Immediae sop BUSY signal 22 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol

25 Deceleraion sop The oupu axis sops wih deceleraion according o he seing in "[Pr.37] Sop group 1 rapid sop selecion" o "[Pr.39] Sop group 3 rapid sop selecion". The deceleraion ime is se in "[Pr.446] Synchronous conrol deceleraion ime" for deceleraion sop, and in "[Pr.36] Rapid sop deceleraion ime" for rapid sop. The slope of deceleraion is as follows. 1 Deceleraion ime Slope of deceleraion = "[Pr.8] Speed limi value" / (Rapid sop deceleraion ime) The cam axis curren value per cycle is no updaed, and only he feed curren value is updaed, since he deceleraion sop begins. Therefore, he pah of he feed curren value is drawn regardless he cam operaion wih deceleraion sop. The inpu axis mus be sopped when he oupu axis is sop synchronizing wih he inpu axis. [Md.407] Cam axis curren value per cycle [Md.20] Feed curren value (Cam operaion) [Md.22] Feedrae [Cd.380] Synchronous conrol sar (Targe axis bi) Deceleraion sop Axis sop signal BUSY signal 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol 23

26 2 INPUT AXIS MODULE The seings for he parameer and monior daa for he inpu axis module ha used wih synchronous conrol are explained in his chaper. Refer o he following for deails on he connecion and conrol for he servo amplifier and he synchronous encoder ha are used for inpu axis module. Simple Moion Board User's Manual (Applicaion) 2.1 Servo Inpu Axis Overview of servo inpu axis The servo inpu axis is used o drive he inpu axis based on he posiion of he servomoor ha is being conrolled by he Simple Moion board. The saus of a servo inpu axis can also be moniored even before he synchronous conrol sar since he seing of a servo inpu axis is valid afer he sysem's power supply ON. The following shows he relaionship beween he posiion of he servomoor and he servo inpu axis. [Pr.300] Servo inpu axis ype Servo moor posiion Feed curren value Real curren value Servo command value Feedback value [Pr.301] Servo inpu axis smoohing ime consan Inpu smoohing processing [Pr.302] Servo inpu axis phase compensaion advance ime [Pr.303] Servo inpu axis phase compensaion ime consan Phase compensaion processing [Md.302] Servo inpu axis phase compensaion amoun [Pr.304] Servo inpu axis roaion direcion resricion Roaion direcion resricion [Md.303] Servo inpu axis roaion direcion resricion amoun Curren value of servo inpu axis [Md.300] Servo inpu axis curren value [Md.301] Servo inpu axis speed Conrol mehod for servo inpu axis All conrols (including synchronous conrol) can be execued for a servo inpu axis. Refer o he following for he conrols oher han he synchronous conrol. Simple Moion Board User's Manual (Applicaion) If he virual servo amplifier funcion is se in he servo inpu axis, synchronous conrol can be execued by he inpu value as virual. Refer o he following for deails on virual servo amplifier funcion. Simple Moion Board User's Manual (Applicaion) 24 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis

27 If "1: Feed curren value" or "2: Real curren value" is se in "[Pr.300] Servo inpu axis ype", se "1: Updae feed curren value" in "[Pr.21] Feed curren value during speed conrol" o sar he speed posiion change conrol. If "0: Do no updae feed curren value" or "2: Clear feed curren value o zero" is se in [Pr.21], he error "Speed-posiion swiching conrol sar in servo inpu axis no possible" (error code: 1BA7H) will occur and he conrol will no sar. 2 Unis for he servo inpu axis The posiion unis and speed unis for he servo inpu axis are shown below for he seing "[Pr.300] Servo inpu axis ype" and "[Pr.1] Uni seing". Servo inpu axis posiion unis Seing value of "[Pr.300] Servo inpu axis ype" 1: Feed curren value 2: Real curren value 3: Servo command value 4: Feedback value Seing value of "[Pr.1] Uni seing" 0: mm 10-4 mm (10-1 m) Servo inpu axis posiion uni Range o [mm] ( o [ m]) 1: inch 10-5 inch o [inch] 2: degree 10-5 degree o [degree] 3: pulse pulse o [pulse] pulse o [pulse] Servo inpu axis speed unis Seing value of "[Pr.300] Servo inpu axis ype" 1: Feed curren value 2: Real curren value 3: Servo command value 4: Feedback value Seing value of "[Pr.1] Uni seing" Servo inpu axis speed uni Range 0: mm 10-2 mm/min o [mm/min] 1: inch 10-3 inch/min o [inch/min] 2: degree 10-3 degree/min * o [degree/min] *1 3: pulse pulse/s o [pulse/s] pulse/s o [pulse/s] *1 When "[Pr.83] Speed conrol 10 x muliplier seing for degree axis" is valid, his will be he speed uni " 10-2 degree/min" (Range: o [degree/min]). When "1: Feed curren value" or "3: Servo command value" is se in "[Pr.300] Servo inpu axis ype", and he servo inpu axis becomes servo OFF by he servo alarm or forced sop, he amoun of value change may be large. This can be prevened by seing "2: Real curren value" or "4: Feedback value" in "[Pr.300] Servo inpu axis ype". When a home posiion reurn for he axis where "1: Feed curren value" or "2: Real curren value" is se in "[Pr.300] Servo inpu axis ype" is performed, if he servo inpu axis operaion during home posiion reurn is used as he inpu value, he inpu is sopped in he midway of home posiion reurn. When he servo inpu axis operaion during home posiion reurn is used as he inpu value, se "3: Servo command value" or "4: Feedback value" in "[Pr.300] Servo inpu axis ype". 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis 25

28 Servo inpu axis parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.300] Servo inpu axis ype [Pr.301] Servo inpu axis smoohing ime consan [Pr.302] Servo inpu axis phase compensaion advance ime [Pr.303] Servo inpu axis phase compensaion ime consan [Pr.304] Servo inpu axis roaion direcion resricion Se he curren value ype o be generaed of he inpu value for he servo inpu axis. Fech cycle: A power supply ON Se o smooh he inpu value. Fech cycle: A power supply ON Se he ime o advance or delay he phase. Fech cycle: Operaion cycle Se he ime consan o affec he phase compensaion. Fech cycle: A power supply ON Se his parameer o resric he inpu movemen amoun o one direcion. Fech cycle: A power supply ON Se in decimal. 0: Invalid 1: Feed curren value 2: Real curren value 3: Servo command value 4: Feedback value Se in decimal. 0 o 5000 [ms] Se in decimal o [ s] n n n n Se in decimal n 0 o [ms] *1 Se in decimal. 0: Wihou roaion direcion resricion 1: Enable only for curren value increase direcion 2: Enable only for curren value decrease direcion n *1 Se he value as follows in a user program. 0 o 32767: Se as a decimal o 65535: Conver ino a hexadecimal and se. For labels, refer o he following. Page 151 Servo inpu axis parameers [Pr.300] Servo inpu axis ype Se he curren value ype o be generaed of he inpu value for he servo inpu axis. Seing value Deails 0: Invalid Servo inpu axis is invalid. 1: Feed curren value Generae he inpu value based on "[Md.20] Feed curren value". 2: Real curren value Generae he inpu value based on he real curren value, which is convered ino unis of he encoder feedback pulses from he servo amplifier. 3: Servo command value Generae he inpu value based on he command pulse for he servo amplifier (a value ha he feed curren value is convered ino encoder pulse unis). 4: Feedback value Generae he inpu value based on he encoder feedback pulse from he servo amplifier. Simple Moion board 1: Feed curren value 2: Real curren value Uni Pulse conversion (Backlash compensaion) Pulse Uni conversion 3: Servo command value 4: Feedback value Servo amplifier 26 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis

29 [Pr.301] Servo inpu axis smoohing ime consan Se he averaging ime o execue a smoohing process for he inpu movemen amoun from he servo inpu axis. The smoohing process can moderae speed flucuaion, when he "Real curren value" or "Feedback value" is used as inpu values. The inpu response is delayed depending on he ime corresponding o he seing by smoohing process seing. Inpu value speed before smoohing 2 Inpu value speed afer smoohing Averaging by smoohing ime consan [Pr.301] Servo inpu axis smoohing ime consan [Pr.301] Servo inpu axis smoohing ime consan [Pr.302] Servo inpu axis phase compensaion advance ime Se he ime o advance or delay he phase (inpu response) of he servo inpu axis. Refer o he following for he delay ime inheren o he sysem using he servo inpu axis. Page 123 Phase Compensaion Funcion Seing value Deails 1 o [ s] Advance he phase (inpu response) according o he seing ime. 0 [ s] Do no execue phase compensaion o -1 [ s] Delay he phase (inpu response) according o he seing ime. If he seing ime is oo long, he sysem experiences overshoo or undershoo a acceleraion/deceleraion of he inpu speed. In his case, se longer ime o affec he phase compensaion amoun in "[Pr.303] Servo inpu axis phase compensaion ime consan". [Pr.303] Servo inpu axis phase compensaion ime consan Se he ime consan o affec he phase compensaion amoun for he firs order delay. 63 [%] of he phase compensaion amoun are refleced in he ime consan seing. [Pr.302] Servo inpu axis phase compensaion advance ime Servo inpu axis curren value Curren value before phase compensaion Curren value afer phase compensaion Speed before phase compensaion Speed afer phase compensaion [Md.302] Servo inpu axis phase compensaion amoun 63% Speed before phase compensaion [Md.302] Servo inpu axis phase compensaion amoun 63% [Pr.303] Servo inpu axis phase compensaion ime consan [Pr.303] Servo inpu axis phase compensaion ime consan 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis 27

30 [Pr.304] Servo inpu axis roaion direcion resricion Se his parameer o resric he inpu movemen amoun for he servo inpu axis o one direcion. This helps o avoid reverse operaion caused by such as machine vibraion when "Real curren value" or "Feedback value" is used as inpu values. Seing value Deails 0: Wihou roaion direcion resricion Roaion direcion resricion is no execued. 1: Enable only for curren value increase direcion Enable only he inpu movemen amoun in he increasing direcion of he servo inpu axis curren value. 2: Enable only for curren value decrease direcion Enable only he inpu movemen amoun in he decreasing direcion of he servo inpu axis curren value. The inpu movemen amoun in he reverse direcion of he enabled direcion accumulaes as a roaion direcion resriced amoun, and will be refleced when he inpu movemen amoun moves in he enabled direcion again. Therefore, he curren value of servo inpu does no deviae when he reverse operaion is repeaed. The roaion direcion resriced amoun is se o 0 when he following operaions are execued for he servo inpu axis. A servo amplifier is conneced The home posiion reurn is execued The curren value is changed For "1: Enable only for curren value increase direcion" is se in "[Pr.304] Servo inpu axis roaion direcion resricion". Speed before roaion direcion resricion [Md.301] Servo inpu axis speed (Speed afer roaion direcion resricion) [Md.303] Servo inpu axis roaion direcion resricion amoun The inpu movemen amoun is accumulaed as a roaion direcion resriced amoun, and will be refleced when he inpu movemen amoun in he enabled direcion INPUT AXIS MODULE 2.1 Servo Inpu Axis

31 Servo inpu axis monior daa n: Axis No. - 1 Monior iem Sorage deails Monior value Buffer memory address [Md.300] Servo inpu axis curren value [Md.301] Servo inpu axis speed [Md.302] Servo inpu axis phase compensaion amoun [Md.303] Servo inpu axis roaion direcion resricion amoun The curren value for he servo inpu axis is sored. Refresh cycle: Operaion cycle The speed for he servo inpu axis is sored. Refresh cycle: Operaion cycle The curren phase compensaion amoun is sored. Refresh cycle: Operaion cycle While he roaion direcion is resriced, he accumulaion for he inpu movemen amoun in he opposie direcion of he enabled direcion is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Servo inpu axis posiion unis *1 ] Monioring is carried ou in decimal o [Servo inpu axis speed unis *2 ] Monioring is carried ou in decimal o [Servo inpu axis posiion unis *1 ] Monioring is carried ou in decimal o [Servo inpu axis posiion unis *1 ] n n n n n n n n 2 *1 Servo inpu axis posiion unis ( Page 25 Servo inpu axis posiion unis) *2 Servo inpu axis speed unis ( Page 25 Servo inpu axis speed unis) For labels, refer o he following. Page 155 Servo inpu axis monior daa [Md.300] Servo inpu axis curren value The curren value for he servo inpu axis is sored in servo inpu axis posiion unis ( Page 25 Servo inpu axis posiion unis) as follows. The curren value for he servo inpu axis is he value afer processing he smoohing, he phase compensaion and he roaion direcion resricion. Seing value of "[Pr.300] Servo inpu axis ype" 1: Feed curren value 2: Real curren value 3: Servo command value 4: Feedback value Sorage deails The accumulaive curren value sared wih "[Md.20] Feed curren value"/"[md.101] Real curren value" for he connecion o he servo amplifier is sored. I is also sored in he range from o [degree] for degree unis. When he "[Md.20] Feed curren value"/"[md.101] Real curren value" is changed by he home posiion reurn or he curren value change, he value is changed o he new curren value. When of he absolue posiion deecion sysem seing is invalid, he accumulaive curren value ha sars from 0 for he conneced servo amplifier is sored. When of he absolue posiion deecion sysem seing is valid, he accumulaive curren value ha sars from he absolue posiion command/encoder feedback pulse for he conneced servo amplifier is sored. The servo inpu axis curren value will no change, even if he home posiion reurn or he curren value is changed. [Md.301] Servo inpu axis speed The speed for he servo inpu axis is sored in servo inpu axis speed unis ( Page 25 Servo inpu axis speed unis). The speed for he servo inpu axis is he value afer processing smoohing, phase compensaion, and roaion direcion resricion. [Md.302] Servo inpu axis phase compensaion amoun The phase compensaion amoun for a servo inpu axis is sored in servo inpu axis posiion unis ( Page 25 Servo inpu axis posiion unis). The phase compensaion amoun for a servo inpu axis is he value afer processing smoohing and phase compensaion. 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis 29

32 [Md.303] Servo inpu axis roaion direcion resricion amoun While he roaion direcion is resriced for a servo inpu axis, he accumulaion for inpu movemen amoun in he opposie direcion of he enabled direcion is sored in servo inpu axis posiion unis ( Page 25 Servo inpu axis posiion unis) as follows. Seing value of "[Pr.304] Servo inpu axis roaion direcion resricion" Sorage deails 1: Enable only for curren value increase direcion A negaive accumulaion is sored during roaion direcion resricion. 0 is sored if here is no resricion. 2: Enable only for curren value decrease direcion A posiive accumulaion is sored during roaion direcion resricion. 0 is sored if here is no resricion. Roaion direcion resricion is processed afer phase compensaion processing. Therefore, if undershoo occurs from phase compensaion during deceleraion sop, he roaion direcion resricion amoun migh remain INPUT AXIS MODULE 2.1 Servo Inpu Axis

33 2.2 Synchronous Encoder Axis Overview of synchronous encoder axis The synchronous encoder is used o drive he inpu axis based on inpu pulse from a synchronous encoder ha is conneced exernally. The saus of a synchronous encoder axis can also be moniored afer he sysem's power supply urns ON. 2 [Pr.320] Synchronous encoder axis ype [Pr.329] Resoluion of synchronous encoder via buffer memory [Pr.710], [Pr.711], [Pr.712], [Pr.713], [Pr.714] Synchronous encoder axis [Pr.1010], [Pr.1011], [Pr.1012], [Pr.1013] Synchronous encoder axis sar reques Couner disable/ Couner enable [Pr.321] Synchronous encoder axis uni seing [Pr.322] Synchronous encoder axis uni conversion: Numeraor [Pr.323] Synchronous encoder axis uni conversion: Denominaor [Pr.325] Synchronous encoder axis smoohing ime consan [Pr.326] Synchronous encoder axis phase compensaion advance ime [Pr.327] Synchronous encoder axis phase compensaion ime consan [Pr.328] Synchronous encoder axis roaion direcion resricion Curren value change [Pr.324] Synchronous encoder axis lengh per cycle Inpu pulse of synchronous encoder Uni conversion Inpu smoohing processing Phase compensaion processing Roaion direcion resricion Curren value of synchronous encoder axis [Md.323] Synchronous encoder axis phase compensaion amoun [Md.324] Synchronous encoder axis roaion direcion resricion amoun [Md.320] Synchronous encoder axis curren value [Md.321] Synchronous encoder axis curren value per cycle [Md.322] Synchronous encoder axis speed 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 31

34 Synchronous encoder axis ype The following 3 ypes of synchronous encoders can be used for he synchronous encoder axis. Refer o he following for he seing mehod for each synchronous encoder axis. Page 34 Seing mehod for synchronous encoder Synchronous encoder axis ype Synchronous encoder via servo amplifier Synchronous encoder via buffer memory Synchronous encoder via link device Deails Used o use a synchronous encoder conneced o he servo amplifier which suppors he scale measuremen mode as a synchronous encoder axis. Used o operae an encoder ha is conneced o such as anoher brand inpu board of he hos personal compuer as a synchronous encoder axis. Used o use an incremenal synchronous encoder, ec. conneced o he high-speed couner module on he CC- Link IE Field Nework as a synchronous encoder axis. Conrol mehod for synchronous encoder axis The following conrols can be execued for he synchronous encoder axis by using "[Cd.320] Synchronous encoder axis conrol sar" and "[Cd.321] Synchronous encoder axis conrol mehod". Seing value of "[Cd.321] Synchronous encoder axis conrol mehod" Conrol deails 0: Curren value change "[Md.320] Synchronous encoder axis curren value" and "[Md.321] Synchronous encoder axis curren value per cycle" are changed based on he seing of "[Cd.322] Synchronous encoder axis curren value seing address". 1: Couner disable Inpu from he synchronous encoder is disabled. 2: Couner enable Inpu from he synchronous encoder is enabled. Unis for he synchronous encoder axis The posiion unis and speed unis for he synchronous encoder axis are shown below for he seing of "[Pr.321] Synchronous encoder axis uni seing". Synchronous encoder axis posiion unis Seing value of "[Pr.321] Synchronous encoder axis uni seing" Conrol uni Number of decimal places for posiion Synchronous encoder axis posiion uni Range 0: mm 0 mm o [mm] mm o [mm] 1: inch 0 inch o [inch] inch o [inch] 2: degree 0 degree o [degree] degree o [degree] 3: pulse 0 pulse o [pulse] pulse o [pulse] 32 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

35 Synchronous encoder axis speed unis Seing value of "[Pr.321] Synchronous encoder axis uni seing" Conrol uni Speed ime uni Number of decimal places for speed Synchronous encoder axis speed uni Range 0: mm 0: second [s] 0 mm/s o [mm/s] mm/s o [mm/s] 1: minue [min] 0 mm/min o [mm/min] mm/min o [mm/min] 1: inch 0: second [s] 0 inch/s o [inch/s] inch/s o [inch/s] 1: minue [min] 0 inch/min o [inch/min] inch/min o [inch/min] 2: degree 0: second [s] 0 degree/s o [degree/s] degree/s o [degree/s] 1: minue [min] 0 degree/min o [degree/min] degree/min o [degree/min] 3: pulse 0: second [s] 0 pulse/s o [pulse/s] pulse/s o [pulse/s] 1: minue [min] 0 pulse/min o [pulse/min] pulse/min o [pulse/min] 2 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 33

36 Seing mehod for synchronous encoder Synchronous encoder via servo amplifier There are resricions in he funcion and he encoder ha can be used by he version of he servo amplifier. Seing mehod Used o use a synchronous encoder conneced o he servo amplifier which suppors he scale measuremen mode as a synchronous encoder axis. The following servo amplifiers can be used. The servo amplifier mus suppor he scale measuremen funcion. MR-J4-GF-RJ Only a roary encoder can be conneced. Refer o he following servo amplifier insrucion manuals for he version of he servo amplifier which suppors he scale measuremen funcion and he roary encoder which can be used. MR-J4-_GF_(-RJ) Servo Amplifier Insrucion Manual (Moion Mode) A synchronous encoder conneced o he specified servo amplifier axis can be used by he following seings. Seing iem Synchronous encoder axis seing Encoder ype seing (Absolue/ Incremenal) Seing mehod Se "101 o 116: Synchronous encoder via servo amplifier (Connecable servo amplifier: axis 1 o axis 16)" in "[Pr.320] Synchronous encoder axis ype". [Seing mehod of EM Configuraor] Se he synchronous encoder axis parameer according o he seing below. "[Pr.320] Type" 101: Synchronous encoder via servo amplifier "[Pr.320] Axis No. of conneced servo amplifier" Axis No. of servo amplifier o connec Se he servo parameer "Scale measuremen mode selecion (PA22)" according o he seing below. 0 _H: Disabled 1 _H: Used in absolue posiion deecion sysem 2 _H: Used in incremenal sysem When "1 _H" is se in he servo parameer "Scale measuremen mode selecion (PA22)", he synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle are resored afer he servo amplifier axis is conneced. Therefore, connecion becomes valid, and will be on he couner enabling saus. (The curren value seing by curren value change is required beforehand.) When "2 _H" is se in he servo parameer "Scale measuremen mode selecion (PA22)", "0" is se o he iniial value of he synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle afer he servo amplifier axis is conneced. Therefore, connecion becomes valid, and will be on he couner enabling saus. If he corresponding servo amplifier axis is no conneced, he connecion of he synchronous encoder axis will be invalid. When "1 _H" is se in he servo parameer "Scale measuremen mode selecion (PA22)" and he synchronous encoder movemen amoun (encoder pulse unis) on disconnecion or during he power supply OFF exceeds " " or " ", he synchronous encoder axis curren value is resored wih is opposie sign INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

37 Poin of he seing mehod When he servo parameer "Scale measuremen mode selecion (PA22)" is changed, i is required o swich he power of servo amplifier off once afer he parameer is ransferred o he servo amplifier, and hen swich i on again. If he servo amplifier se by he servo parameer "Scale measuremen mode selecion (PA22)" does no suppor he "Scale measuremen mode", "AL.37" (parameer error) will occur in he servo amplifier. Refer o he servo amplifier insrucion manual for deails of he servo parameer "Scale measuremen mode selecion (PA22)". The following informaion of he synchronous encoder via servo amplifier can be oupu wih servo cyclic ransmission funcion and servo ransien ransmission funcion. For he deail of CiA402 objecs o be se, refer o he manual of he slave device. 2 Informaion of synchronous encoder Load side encoder informaion 1 Load side encoder informaion 2 A serial absolue synchronous encoder Q171ENC-W8 can be used in an incremenal sysem by seing "2 _H" in he servo parameer "Scale measuremen mode selecion (PA22)" even if he baery of he servo amplifier is dismouned. Seing example The following shows an example for seing a serial absolue synchronous encoder Q171ENC-W8 using MR-J4-GF-RJ as synchronous encoder axis 1 of he Simple Moion board. MR-J4-GF-RJ MR-EM340GF Axis 1 Axis 2 Axis 3 Q171ENC-W8 ( pulses/rev) Synchronous encoder axis 1 Se he parameers as below. Se "101: Synchronous encoder via servo amplifier (servo amplifier axis 3)" in "[Pr.320] Synchronous encoder axis ype" of synchronous encoder axis 1. Se "MR-J4 series" in "[Pr.100] Conneced device" of he axis o connec Q171ENC-W8. Se "1 _H" in he servo parameer "Funcion selecion C-8 (PC26)". Resricions The servo amplifier axis seleced as "Synchronous encoder via servo amplifier" in"[pr.320] Synchronous encoder axis ype" does no operae in he fully closed conrol mode even hough " 1_H" is se in he servo parameer "Operaion mode selecion (PA01)". When he servo alarms abou he serial absolue synchronous encoder connecion occur in he servo amplifier axis seleced as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis ype", he saus becomes servo OFF. "AL.25" (Absolue posiion erased), "AL.70" (Load-side encoder iniial communicaion error 1), or "AL.71" (Loadside encoder normal communicaion error 1) occurs in he servo amplifier. The error "Synchronous encoder via servo amplifier invalid error" (error code: 1BAAH) occurs in he following cases. The "[Pr.100] Conneced device" of he axis No. seleced as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis ype" is no se or he servo axis, which scale measuremen mode is no enabled, is se o he servo amplifier axis No. o connec o "Synchronous encoder via servo amplifier". A linear scale is conneced. 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 35

38 Synchronous encoder via buffer memory (Synchronous encoder via hos personal compuer) Seing mehod Used o operae an encoder ha is conneced o such as anoher brand inpu board of he hos personal compuer as a synchronous encoder axis. By seing "201: Synchronous encoder via buffer memory" in "[Pr.320] Synchronous encoder axis ype", he synchronous encoder is conrolled by he encoder value which is he inpu value of "[Cd.325] Inpu value for synchronous encoder via buffer memory". The encoder value can be used as a cycle couner wihin he range from 0 o (Resoluion of synchronous encoder via buffer memory - 1). Connecion is invalid jus afer he sysem's power supply is ON. When "1" is se in "[Cd.324] Connecion command of synchronous encoder via buffer memory", he synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle are resored based on "[Cd.325] Inpu value for synchronous encoder via buffer memory". Therefore, connecion becomes valid, and will be on he couner enabling saus. The synchronous encoder axis is conrolled based on he amoun of change of "[Cd.325] Inpu value for synchronous encoder via buffer memory" while i is connecing. Seing example The following shows an example for seing a synchronous encoder via buffer memory as synchronous encoder axis 4 of he Simple Moion board. (Resoluion of he encoder: 4096 pulses/rev) Anoher brand inpu board MR-EM340GF Encoder Synchronous encoder axis 4 MR-J4-GF-RJ Axis 1 Axis 2 Axis 3 Se "201: Synchronous encoder via buffer memory" in "[Pr.320] Synchronous encoder axis ype" of synchronous encoder axis 4. Se "4096" in "[Pr.329] Resoluion of synchronous encoder via buffer memory" of synchronous encoder axis 4. Read he encoder value of he encoder wih a user program, and updae "[Cd.325] Inpu value for synchronous encoder via buffer memory" of he synchronous encoder axis 4 a every ime INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

39 Resricions "[Cd.325] Inpu value for synchronous encoder via buffer memory" is aken every operaion cycle, bu i is asynchronous wih he process cycle of he user program. Therefore, speed flucuaion of he synchronous encoder axis becomes larger if he refresh cycle of "[Cd.325] Inpu value for synchronous encoder via buffer memory" becomes long. Updae "[Cd.325] Inpu value for synchronous encoder via buffer memory" a he iming of he operaion cycle inerrup or in a cycle less han he operaion cycle, or use smooh speed flucuaion wih he smoohing funcion. The synchronous encoder curren value ha is resored for he synchronous encoder connecion ges resored ino a convered value from he following range based on he synchronous encoder movemen amoun on disconnecion. 2 Seing value of "[Pr.329] Resoluion of synchronous encoder via buffer memory" Range of resored synchronous encoder curren value 1 or more -(Resoluion of synchronous encoder via buffer memory / 2) o (Resoluion of synchronous encoder via buffer memory / 2-1) [pulse] *1 0 or less o [pulse] *1 If he resoluion of a synchronous encoder via buffer memory is an odd number, round down a negaive value afer he decimal poin, round up a posiive value afer decimal poin. Synchronous encoder via link device Seing mehod Used o operae an incremenal synchronous encoder ha is conneced o he high-speed couner module on he CC-Link IE Field Nework as a synchronous encoder axis. By seing "301: Synchronous encoder via link device" in "[Pr.320] Synchronous encoder axis ype", he link device assigned o he synchronous encoder inpu axis can be used by he link device exernal signal assignmen funcion. The saus is se o he couner disable jus afer a link is esablished. The synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle are resored based on he link device value assigned o he synchronous encoder inpu axis. Therefore, connecion becomes valid. The synchronous encoder axis is conrolled based on he amoun of change of he link device value assigned o he synchronous encoder inpu axis while i is connecing. Seing example The following shows an example for seing a synchronous encoder via link device as synchronous encoder axis 4 of he Simple Moion board. Assign he link device o he synchronous encoder inpu using he link device exernal signal assignmen funcion. Se "301: Synchronous encoder via link device" in "[Pr.320] Synchronous encoder axis ype" of synchronous encoder axis 4. MR-J4-GF-RJ High-speed couner module MR-EM340GF Axis 1 Axis 2 Axis 3 Incremenal synchronous encoder axis 2 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 37

40 The following shows an example for operaing CH1 of he high-speed couner module (NZ2GFCF-D62PD2) as he ring couner o use as synchronous encoder inpu. For he specificaion and usage mehods of he high-speed couner module, refer o he following manual. CC-Link IE Field Nework High-Speed Couner Module User's Manual Seing iem Seing value Seing deails [Pr.710] Synchronous encoder axis: Link device ype [Pr.711] Synchronous encoder axis: Link device sar No. [Pr.712] Synchronous encoder axis: Link device coun direcion seing [Pr.713] Synchronous encoder axis: Ring couner maximum value [Pr.714] Synchronous encoder axis: Ring couner minimum value 0033H 0010H Specify he remoe regiser RWr10 (2 words) which sores he "curren value" of he couner module. 0 The encoder curren value moves oward he posiive direcion by he coun-up pulse Se he upper limi of he ring couner o (Se he value o mach wih he seing value of RWw12 o RWw13.) 0 Se he lower limi of he ring couner o 0. (Se he value o mach wih he seing value of RWw10 o RWw11.) Resricions When using he link device, he fech iming of he signal disperses in one link scan cycle. Se he movemen amoun per link scan so ha he following formula is saisfied. If no, he acual movemen amoun of he synchronous encoder and he movemen amoun couned by he Simple Moion board migh no be mached. Movemen amoun per link scan < (Ring couner maximum value) - (Ring couner minimum value) Ex. When using he high-speed couner module shown he seing example above, se he movemen amoun per link scan o or less Movemen amoun per link scan < = INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

41 Synchronous encoder axis parameers j: Synchronous encoder axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.320] Synchronous encoder axis ype [Pr.321] Synchronous encoder axis uni seing Se he synchronous encoder axis ype o be used. Fech cycle: A power supply ON Se he uni of he synchronous encoder axis. Se he posiion uni wihin he range from 1 o 10-9 [conrol uni]. Se he speed uni wihin he range from 1 o 10-9 [conrol uni/s or conrol uni/min]. Fech cycle: A power supply ON Se in decimal. 0: Invalid 101 o 116: Synchronous encoder via servo amplifier (Connecable servo amplifier: Axis 1 o axis 16) 201: Synchronous encoder via buffer memory 301: Synchronous encoder via link device Buffer memory address j Se in hexadecimal. 0003H j H Conrol uni 0: mm, 1: inch, 2: degree, 3: pulse Number of decimal places for posiion 0 o 9 Speed ime uni 0: second [s], 1: minue [min] Number of decimal places for speed 0 o 9 2 [Pr.322] Synchronous encoder axis uni conversion: Numeraor [Pr.323] Synchronous encoder axis uni conversion: Denominaor [Pr.324] Synchronous encoder axis lengh per cycle [Pr.325] Synchronous encoder axis smoohing ime consan [Pr.326] Synchronous encoder axis phase compensaion advance ime [Pr.327] Synchronous encoder axis phase compensaion ime consan [Pr.328] Synchronous encoder axis roaion direcion resricion [Pr.329] Resoluion of synchronous encoder via buffer memory Se he numeraor o conver he uni from he encoder pulse of he synchronous encoder axis ino he synchronous encoder axis uni. Fech cycle: A power supply ON Se he denominaor o conver he uni from he encoder pulse of he synchronous encoder axis ino he synchronous encoder axis uni. Fech cycle: A power supply ON Se he lengh per cycle of he synchronous encoder axis. Fech cycle: A power supply ON Se he ime o smooh for he inpu value. Fech cycle: A power supply ON Se he ime o advance or delay he phase. Fech cycle: Operaion cycle Se he ime consan o affec he phase compensaion. Fech cycle: A power supply ON Se his parameer o resric he inpu movemen amoun o one direcion. Fech cycle: A power supply ON Se he resoluion of he synchronous encoder when he synchronous encoder axis ype is se o synchronous encoder via buffer memory. If 0 or less is se, he inpu value of synchronous encoder via buffer memory is processed as 32-bi couner. Fech cycle: A power supply ON Se in decimal o [Synchronous encoder axis posiion unis *1 ] Se in decimal. 1 o [pulse] Se in decimal. 1 o [Synchronous encoder axis posiion unis *1 ] Se in decimal. 0 o 5000 [ms] Se in decimal o [ s] j j j j j j j j j Se in decimal j 0 o [ms] *2 Se in decimal. 0: Wihou roaion direcion resricion 1: Enable only for curren value increase direcion 2: Enable only for curren value decrease direcion Se in decimal o [pulse] j j j *1 Synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis) *2 Se he value as follows in a user program. 0 o 32767: Se as a decimal o 65535: Conver ino a hexadecimal and se 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 39

42 For labels, refer o he following. Page 151 Synchronous encoder axis parameers [Pr.320] Synchronous encoder axis ype Se he synchronous encoder ype o be generaed of he inpu value for he synchronous encoder axis. Seing value Deails 0: Invalid Synchronous encoder axis is invalid. 101 o 116: Synchronous encoder via servo amplifier (Connecable servo amplifier: Axis 1 o axis 16) Generae he inpu value based on he synchronous encoder inpu via servo amplifier conneced o he specified servo amplifier (axis 1 o axis 16). 201: Synchronous encoder via buffer memory Generae he inpu value wih he value se in he buffer memory by he hos personal compuer as he encoder value. 301: Synchronous encoder via link device Use an arbirary value of link device as synchronous encoder inpu. [Pr.321] Synchronous encoder axis uni seing Se he posiion and speed uni of he synchronous encoder axis. Refer o he following for deails. Page 32 Unis for he synchronous encoder axis [Pr.322] Synchronous encoder axis uni conversion: Numeraor The inpu movemen amoun of synchronous encoder is configured in encoder pulse unis. The unis can be arbirarily convered hrough uni conversaion wih seing [Pr.322] and [Pr.323]. Se [Pr.322] and [Pr.323] according o he conrolled machine. Synchronous encoder axis movemen amoun (Movemen amoun afer uni conversion) Synchronous encoder inpu "[Pr.322] Synchronous encoder axis uni conversion: Numeraor" = movemen amoun (Encoder pulse unis) "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" The movemen amoun corresponding o "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" is se in "[Pr.322] Synchronous encoder axis uni conversion: Numeraor" in synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis). The inpu movemen amoun can be reversed by he seing negaive values. Se "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" based on encoder pulse unis from he synchronous encoder. Se a value wihin he range from 1 o [Pr.323] Synchronous encoder axis uni conversion: Denominaor The inpu movemen amoun of synchronous encoder is configured in encoder pulse unis. The unis can be arbirarily convered hrough uni conversaion wih seing [Pr.322] and [Pr.323]. Se [Pr.322] and [Pr.323] according o he conrolled machine. Synchronous encoder axis movemen amoun (Movemen amoun afer uni conversion) Synchronous encoder inpu "[Pr.322] Synchronous encoder axis uni conversion: Numeraor" = movemen amoun (Encoder pulse unis) "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" The movemen amoun corresponding o "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" is se in "[Pr.322] Synchronous encoder axis uni conversion: Numeraor" in synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis). The inpu movemen amoun can be reversed by he seing negaive values. Se "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" based on encoder pulse unis from he synchronous encoder. Se a value wihin he range from 1 o [Pr.324] Synchronous encoder axis lengh per cycle Se he lengh per cycle for he synchronous encoder axis curren value per cycle. The curren value of synchronous encoder axis is sored in "[Md.321] Synchronous encoder axis curren value per cycle" a ring couner based on he seing value. The uni seings are in synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis). Se a value wihin he range from 1 o INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

43 Seing example of he uni conversion and he lengh per cycle. The following shows an example a roary encoder is conneced which resoluion is 4000 [pulse/rev] o he moor axis side on he roaion able ha drives by 1/5 pulley sysem, and he conrol uni is degree. Posiion uni: 0.1 [degree] Speed uni: [degree/min] Lengh per cycle: [degree] (1 cycle of he roaion able) Seing iem Seing deails Seing value [Pr.321] Conrol uni 2: degree 3112H Synchronous encoder axis uni Number of decimal places for posiion 1 seing Speed ime uni 1: minue [min] Number of decimal places for speed 3 [Pr.322] Synchronous encoder axis uni conversion: Numeraor [degree] [ 0.1 degree] [Pr.323] Synchronous encoder axis uni conversion: Denominaor 4000 [pulse] [pulse] [Pr.324] Synchronous encoder axis lengh per cycle [degree] 3600 [ 0.1 degree] 2 Synchronous encoder inpu pulse [Pr.322], [Pr.323] Synchronous encoder axis uni conversion [Md.320] Synchronous encoder axis curren value [Md.321] Synchronous encoder axis curren value per cycle [pulse] [ 0.1 degree] [ 0.1 degree] 3600 [Pr.324] Synchronous encoder axis lengh per cycle [Md.322] Synchronous encoder axis speed (Speed afer uni conversion) [ degree/min] [Pr.325] Synchronous encoder axis smoohing ime consan Se he averaging ime o execue a smoohing process for he inpu movemen amoun from synchronous encoder. The smoohing process can moderae speed flucuaion of he synchronous encoder inpu. The inpu response is delayed depending on he ime corresponding o he seing by smoohing process seing. Inpu value speed before smoohing Inpu value speed afer smoohing Averaging by smoohing ime consan [Pr.325] Synchronous encoder axis smoohing ime consan [Pr.325] Synchronous encoder axis smoohing ime consan 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 41

44 [Pr.326] Synchronous encoder axis phase compensaion advance ime Se he ime o advance or delay he phase (inpu response) of he synchronous encoder axis. Refer o he following for he delay ime inheren o he sysem using he synchronous encoder axis. Page 123 Phase Compensaion Funcion Seing value Deails 1 o [ s] Advance he phase (inpu response) according o he seing ime. 0 [ s] Do no execue phase compensaion o -1 [ s] Delay he phase (inpu response) according o he seing ime. If he seing ime is oo long, he sysem experiences overshoo or undershoo a acceleraion/deceleraion of he inpu speed. In his case, se a longer ime o affec he phase compensaion amoun in "[Pr.327] Synchronous encoder axis phase compensaion ime consan". [Pr.327] Synchronous encoder axis phase compensaion ime consan Se he ime consan o affec he phase compensaion amoun for he firs order delay. 63 [%] of he phase compensaion amoun are refleced in he ime consan seing. [Pr.326] Synchronous encoder axis phase compensaion advance ime Synchronous encoder axis curren value Curren value before phase compensaion Curren value afer phase compensaion Speed before phase compensaion Speed afer phase compensaion [Md.323] Synchronous encoder axis phase compensaion amoun 63% Speed before phase compensaion [Pr.327] Synchronous encoder axis phase compensaion ime consan [Pr.326] Synchronous encoder axis phase compensaion advance ime 63% [Pr.327] Synchronous encoder axis phase compensaion ime consan 42 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

45 [Pr.328] Synchronous encoder axis roaion direcion resricion Se his parameer o resric he inpu movemen amoun for he synchronous encoder axis o one direcion. This helps o avoid reverse operaion caused by such as machine vibraion of he synchronous encoder inpu. Seing value 0: Wihou roaion direcion resricion 1: Enable only for curren value increase direcion 2: Enable only for curren value decrease direcion Deails Roaion direcion resricion is no execued. Enable only he inpu movemen amoun in he increasing direcion of he synchronous encoder axis curren value. Enable only he inpu movemen amoun in he decreasing direcion of he synchronous encoder axis curren value. 2 The inpu movemen amoun in he reverse direcion of he enabled direcion accumulaes as a roaion direcion resriced amoun, and i will be refleced when he inpu movemen amoun moves in he enabled direcion again. Therefore, he curren value of synchronous encoder axis does no deviae when he reverse operaion is repeaed. The roaion direcion resriced amoun is se o 0 a he synchronous encoder axis connecion and curren value change. For "1: Enable only for curren value increase direcion" is se in "[Pr.328] Synchronous encoder axis roaion direcion resricion". Speed before roaion direcion resricion [Md.322] Synchronous encoder axis speed (Speed afer roaion direcion resricion) [Md.324] Synchronous encoder axis roaion direcion resricion amoun The inpu movemen amoun is accumulaed as a roaion direcion resriced amoun, and will be refleced when he inpu movemen amoun moves in he enabled direcion. [Pr.329] Resoluion of synchronous encoder via buffer memory Se he resoluion of conneced synchronous encoder when "201: Synchronous encoder via buffer memory" is se in "[Pr.320] Synchronous encoder axis ype". If 1 or more is se, "[Cd.325] Inpu value for synchronous encoder via buffer memory" is processed as he cycle couner wihin he range from 0 o (resoluion of synchronous encoder via buffer memory - 1). If 0 or less is se, "[Cd.325] Inpu value for synchronous encoder via buffer memory" is processed as 32 bi couner wihin he range from o If 1 or more is se in "[Pr.329] Resoluion of synchronous encoder via buffer memory", se he cycle couner wihin he range from 0 o (resoluion of synchronous encoder via buffer memory - 1) as he inpu value in "[Cd.325] Inpu value for synchronous encoder via buffer memory". 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 43

46 Synchronous encoder axis parameers via link device j: Synchronous encoder axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.710] Synchronous encoder axis: Link device ype [Pr.711] Synchronous encoder axis: Link device sar No. [Pr.712] Synchronous encoder axis: Link device coun direcion seing [Pr.713] Synchronous encoder axis: Ring couner maximum value [Pr.714] Synchronous encoder axis: Ring couner minimum value Se link device ype for use. Fech cycle: A power supply ON Se link device No. for use. Fech cycle: A power supply ON Se he relaionship beween link device coun direcion and assignmen signal coun direcion. (Valid for only 0h bi) Fech cycle: A power supply ON Se he maximum and minimum value when he link device value is ring couner. When he ring couner maximum value is equal o he ring couner minimum value, he seing depends on he link device ype seing. When he link device ype is a 1-word device and a value ouside he range of 1 word is se, he seing is ignored.( o 32767) When he ring couner maximum value is smaller han he ring couner minimum value, he error "Ouside he link device maximum/minimum value specificaion range" (error code: 1CC2H) occurs. Fech cycle: A power supply ON Se in hexadecimal. Oher han below: Invalid 21H: RX (1 word) 22H: RY (1 word) 23H: RWr (1 word) 24H: RWw (1 word) 31H: RX (2 words) 32H: RY (2 words) 33H: RWr (2 words) 34H: RWw (2 words) Se in hexadecimal. 0 o 1FFFH Se in decimal. 0: Plus coun (The signal will also be plus couned while he link device is plus coun.) 1: Minus coun (The signal will be minus couned while he link device is plus coun.) Se in decimal. 1 word: o words: o Buffer memory address 0000H j 1000H j j j j j j [Pr.1010] Synchronous encoder axis sar reques: Link device ype Se link device ype for use. Fech cycle: A power supply ON Se in hexadecimal. Oher han below: Invalid 11H: RX (1 bi) 12H: RY (1 bi) 13H: RWr (1 bi) 14H: RWw (1 bi) 0000H j [Pr.1011] Synchronous encoder axis sar reques: Link device sar No. Se link device No. for use. Fech cycle: A power supply ON Se in hexadecimal. 0 o 1FFFH 0000H j [Pr.1012] Synchronous encoder axis sar reques: Link device bi specificaion Se he bi No. ha used in occasion when "13H: RWr (1 bi)" and "14H: RWw (1 bi)" had been se o "[Pr.1010] Link device ype". Fech cycle: A power supply ON Se in hexadecimal. 00H o 0FH 0000H j [Pr.1013] Synchronous encoder axis sar reques: Link device logic seing Se he logic for assignmen signal. (Valid for only 0h bi) Fech cycle: A power supply ON Se in decimal. 0: Negaive logic 1: Posiive logic j For labels, refer o he following. Page 152 Synchronous encoder axis parameers via link device Se [Pr.710] o [Pr.714] when an arbirary value of link device is used as synchronous encoder inpu. Se [Pr.1010] o [Pr.1013] when an arbirary value of link device is used as synchronous encoder axis sar reques INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

47 [Pr.710] Synchronous encoder axis: Link device ype Se link device ype for use. Oher han below: Invalid 21H: RX (1 word) 22H: RY (1 word) 23H: RWr (1 word) 24H: RWw (1 word) 31H: RX (2 words) 32H: RY (2 words) 33H: RWr (2 words) 34H: RWw (2 words) 2 [Pr.711] Synchronous encoder axis: Link device sar No. Se link device No. for use. If he link device No. ou of he range is se, he error "Ouside link device sar No. range" (error code: 1CC0H) occurs and he synchronous encoder inpu via link device canno be used. [Pr.712] Synchronous encoder axis: Link device coun direcion seing Se he relaionship beween link device coun direcion and assignmen signal coun direcion. (Valid for only 0h bi) 0: Plus coun (The signal will also be plus couned while he link device is plus coun.) 1: Minus coun (The signal will be minus couned while he link device is plus coun.) [Pr.713] Synchronous encoder axis: Ring couner maximum value Se he maximum value when he link device value is ring couner. [When he link device ype is se o 1 word] The maximum value: [When he link device ype is se o 2 words] The maximum value: When he ring couner maximum value is equal o he ring couner minimum value, he seing depends on he link device ype seing. When he link device ype is a 1-word device and a value ouside he range of 1 word is se, he seing is ignored. When he ring couner maximum value is smaller han he ring couner minimum value, he error "Ouside he link device maximum/minimum value specificaion range" (error code: 1CC2H) occurs. [Pr.714] Synchronous encoder axis: Ring couner minimum value Se he minimum value when he link device value is ring couner. [When he link device ype is se o 1 word] The minimum value: [When he link device ype is se o 2 words] The minimum value: When he ring couner maximum value is equal o he ring couner minimum value, he seing depends on he link device ype seing. When he link device ype is a 1-word device and a value ouside he range of 1 word is se, he seing is ignored. When he ring couner maximum value is smaller han he ring couner minimum value, he error "Ouside he link device maximum/minimum value specificaion range" (error code: 1CC2H) occurs. 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 45

48 [Pr.1010] Synchronous encoder axis sar reques: Link device ype Se link device ype for use. Oher han below: Invalid 11H: RX (1 bi) 12H: RY (1 bi) 13H: RWr (1 bi) 14H: RWw (1 bi) [Pr.1011] Synchronous encoder axis sar reques: Link device sar No. Se link device No. for use. If he link device No. ou of he range is se, he error "Ouside link device sar No. range" (error code: 1CC0H) occurs and he synchronous encoder axis sar via link device canno be used. [Pr.1012] Synchronous encoder axis sar reques: Link device bi specificaion Se he bi No. ha used in occasion when "13H: RWr (1 bi)" and "14H: RWw (1 bi)" had been se o "[Pr.1010] Link device ype". Seing range: 00H o 0FH If he value ou of he range is se, he error "Ouside he link device bi specificaion range" (error code: 1CC1H) occurs and he synchronous encoder axis sar via link device canno be used. [Pr.1013] Synchronous encoder axis sar reques: Link device logic seing Se he logic for assignmen signal. (Valid for only 0h bi) 0: Negaive logic 1: Posiive logic 46 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

49 Synchronous encoder axis conrol daa j: Synchronous encoder axis No. - 1 Seing iem Seing deails Seing value Defaul value [Cd.320] Synchronous encoder axis conrol sar [Cd.321] Synchronous encoder axis conrol mehod [Cd.322] Synchronous encoder axis curren value seing address [Cd.323] Synchronous encoder axis error rese [Cd.324] Connecion command of synchronous encoder via buffer memory [Cd.325] Inpu value for synchronous encoder via buffer memory If se o "1", he synchronous encoder axis conrol is sared. If se o "201", he synchronous encoder axis conrol sars based on he synchronous encoder axis conrol reques. The Simple Moion board reses he value o "0" auomaically afer compleion of he synchronous encoder axis conrol. Fech cycle: Operaion cycle Se he conrol mehod for he synchronous encoder axis. Fech cycle: A synchronous encoder axis conrol sar Se a new curren value for changing he curren value. Fech cycle: A synchronous encoder axis conrol sar If se o "1" for reseing error and warning for he synchronous encoder axis, he error No. and warning No. are se o 0, and he error deecion and warning deecion bis saus are urned OFF. The Simple Moion board reses he value o "0" auomaically afer compleion of he error rese. In he case of he synchronous encoder axis parameer error, even if he error is rese, he seing valid flag of he synchronous encoder axis saus has been OFF. Fech cycle: Main cycle *1 If se o "1", he synchronous encoder via buffer memory is conneced. If se o "0", he synchronous encoder via buffer memory is disconneced. Fech cycle: Main cycle *1 Se a value o be used every ime as he inpu value for he synchronous encoder for he synchronous encoder via buffer memory. Fech cycle: Operaion cycle Se in decimal. 1: Sar for synchronous encoder axis conrol 201: Sar reques for synchronous encoder axis conrol (link device) Se in decimal. 0: Curren value change 1: Couner disable 2: Couner enable Se in decimal o [Synchronous encoder axis posiion unis *2 ] Se in decimal. 1: Error rese reques Se in decimal. 1: Connec synchronous encoder via buffer memory 0: Disconnec synchronous encoder via buffer memory Se in decimal o [pulse] Buffer memory address j j j j j j j j 2 *1 Wih he excepion of posiioning conrol, main cycle processing is execued during he nex available ime. I changes by saus of axis sar. *2 Synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis) For labels, refer o he following. Page 156 Synchronous encoder axis conrol daa 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 47

50 [Cd.320] Synchronous encoder axis conrol sar If se o "1", he synchronous encoder axis conrol is sared. [Md.320] Synchronous encoder axis curren value 100 [Cd.320] Synchronous encoder axis conrol sar [Cd.321] Synchronous encoder axis conrol mehod 0: Curren value change [Cd.322] Synchronous encoder axis curren value seing address 100 If se o "201", he synchronous encoder axis conrol sars based on he link device inpu assigned o he synchronous encoder axis sar reques by he link device exernal signal assignmen funcion. Se he conrol mehod for he synchronous encoder axis in "[Cd.321] Synchronous encoder axis conrol mehod". The Simple Moion board reses he value o "0" auomaically afer compleion of he synchronous encoder axis conrol. [Md.320] Synchronous encoder axis curren value [Pr.1010] Synchronous encoder axis sar reques: Link device ype (Synchronous encoder axis Axis3) [Pr.1011] Synchronous encoder axis sar reques: Link device sar No. (Synchronous encoder axis Axis3) [Pr.1013] Synchronous encoder axis sar reques: Link device logic seing (Synchronous encoder axis Axis3) Link device RX01 [Md.325] Synchronous encoder axis saus (b6: Sar reques flag) (Synchronous encoder axis Axis3) : RX H0001 1: Posiive logic [Cd.320] Synchronous encoder axis conrol sar [Cd.321] Synchronous encoder axis conrol mehod [Cd.322] Synchronous encoder axis curren value seing address 0: Curren value change 100 [API library] To change he synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle, use he MMC_SyncEncoder::ChangeSyncEncoderPosiion mehod. To disable he inpu from he synchronous encoder axis, use he MMC_SyncEncoder::DisableSyncEncoder mehod. To enable he inpu from he synchronous encoder axis, use he MMC_SyncEncoder::EnableSyncEncoder mehod INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

51 [Cd.321] Synchronous encoder axis conrol mehod Se he conrol mehod for he synchronous encoder axis. Seing value Deails 0: Curren value change The synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle are changed as follows. Se he new curren value in "[Cd.322] Synchronous encoder axis curren value seing address". [Md.320] "[Cd.322] Synchronous encoder axis curren value seing address" Synchronous encoder axis curren value [Md.321] Synchronous encoder axis curren value per cycle A value ha is convered "[Cd.322] Synchronous encoder axis curren value seing address" ino he range from 0 o "[Pr.324] Synchronous encoder axis lengh per cycle -1". 1: Couner disable Inpu from he synchronous encoder is invalid. Smoohing processing, phase compensaion processing and roaion direcion resricion processing are coninued. While hese processes are valid, he inpu axis speed may no sop immediaely when he couner disable is seleced. 2: Couner enable Inpu from he synchronous encoder is valid. 2 [Cd.322] Synchronous encoder axis curren value seing address Se a new curren value in synchronous encoder axis posiion unis o apply o he curren value change for he synchronous encoder axis ( Page 32 Synchronous encoder axis posiion unis). [Cd.323] Synchronous encoder axis error rese If se o "1", "[Md.326] Synchronous encoder axis error No." and "[Md.327] Synchronous encoder axis warning No." are se o 0 and hen "b4: Error deecion flag" and "b5: Warning deecion flag" of "[Md.325] Synchronous encoder axis saus" are urned OFF. A synchronous encoder connecion becomes valid if here is no error. The Simple Moion board reses he value o "0" auomaically afer compleion of he error rese. However, he seing of he synchronous encoder axis will no be valid even if he error is rese for he seing error of he synchronous encoder axis parameer. Reconfigure he parameer, and urn he power supply of he Simple Moion board ON again or execue he remoe RESET. [API library] To execue he error rese of he synchronous encoder axis, use he MMC_SyncEncoder::ReseSyncEncoderError mehod. [Cd.324] Connecion command of synchronous encoder via buffer memory Use his daa when "201: Synchronous encoder via buffer memory" is se in "[Pr.320] Synchronous encoder axis ype". If se o"1", he synchronous encoder axis is conneced. Once conneced, he synchronous encoder curren value is resored based on he "[Cd.325] Inpu value for synchronous encoder via buffer memory". If se o "0", he synchronous encoder axis is disconneced. [Cd.325] Inpu value for synchronous encoder via buffer memory Use his daa when "201: Synchronous encoder via buffer memory" is se in "[Pr.320] Synchronous encoder axis ype". Se a value o be used every ime as he inpu value for he synchronous encoder in encoder pulse unis. If 1 or more is se in "[Pr.329] Resoluion of synchronous encoder via buffer memory", i is processed as a cycle couner wihin he range from 0 o (resoluion of synchronous encoder via buffer memory - 1). 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 49

52 Synchronous encoder axis monior daa j: Synchronous encoder axis No. - 1 Monior iem Sorage deails Monior value Buffer memory address [Md.320] Synchronous encoder axis curren value The curren value for he synchronous encoder axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Synchronous encoder axis posiion unis *1 ] j j [Md.321] Synchronous encoder axis curren value per cycle The curren value per cycle for a synchronous encoder axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal. 0 o (Synchronous encoder axis lengh per cycle - 1) [Synchronous encoder axis posiion unis *1 ] j j [Md.322] Synchronous encoder axis speed The speed for a synchronous encoder axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Synchronous encoder axis speed unis *2 ] j j [Md.323] Synchronous encoder axis phase compensaion amoun The phase compensaion amoun is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Synchronous encoder axis posiion unis *1 ] j j [Md.324] Synchronous encoder axis roaion direcion resricion amoun While he roaion direcion is resriced, he accumulaion for he inpu movemen amoun in he opposie direcion of he enabled direcion is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Synchronous encoder axis posiion unis *1 ] j j [Md.325] Synchronous encoder axis saus The saus for a synchronous encoder axis is moniored. Refresh cycle: Operaion cycle Monioring is carried ou in hexadecimal j Buffer memory b15 b12 b8 b4 b0 No used Sored iems Meaning b0 Seing valid flag b1 Connecing valid flag b2 Couner enable flag b3 Curren value seing reques flag 0: OFF 1: ON b4 Error deecion flag b5 Warning deecion flag b6 Sar reques flag [Md.326] Synchronous encoder axis error No. The error code for he synchronous encoder axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in hexadecimal. ( Simple Moion Board User's Manual (Applicaion)) j [Md.327] Synchronous encoder axis warning No. The warning code for he synchronous encoder axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in hexadecimal. ( Simple Moion Board User's Manual (Applicaion)) j *1 Synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis) *2 Synchronous encoder axis speed unis ( Page 33 Synchronous encoder axis speed unis) For labels, refer o he following. Page 155 Synchronous encoder axis monior daa [Md.320] Synchronous encoder axis curren value The curren value for he synchronous encoder axis is sored in synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis). [Md.321] Synchronous encoder axis curren value per cycle The curren value per cycle for a synchronous encoder axis is sored in he range from 0 o ("[Pr.324] Synchronous encoder axis lengh per cycle" - 1). The uni is synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis) INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

53 [Md.322] Synchronous encoder axis speed The speed for a synchronous encoder axis is sored in synchronous encoder axis speed unis ( Page 33 Synchronous encoder axis speed unis). If he speed for a synchronous encoder axis exceeds he monior range ( Page 31 Overview of synchronous encoder axis), he warning "Inpu axis speed display over" (warning code: 0BD2H) will occur. In his case, use a smaller number of decimal places for he speed in "[Pr.321] Synchronous encoder axis uni seing" or se he speed ime unis o "0: second [s]". 2 [Md.323] Synchronous encoder axis phase compensaion amoun The phase compensaion amoun for a synchronous encoder axis is sored in he synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis). The phase compensaion amoun for a synchronous encoder axis is he value afer smoohing processing and phase compensaion processing. [Md.324] Synchronous encoder axis roaion direcion resricion amoun While he roaion direcion is resriced for a synchronous encoder axis, he accumulaion for inpu movemen amoun in he opposie direcion of he enabled direcion is sored in synchronous encoder axis posiion unis ( Page 32 Synchronous encoder axis posiion unis) as follows. Seing value of "[Pr.328] Synchronous encoder axis roaion direcion resricion" Sorage deails 1: Enable only for curren value increase direcion A negaive accumulaion is sored during roaion direcion resricion. 0 is sored if here is no resricion. 2: Enable only for curren value decrease direcion A posiive accumulaion is sored during roaion direcion resricion. 0 is sored if here is no resricion. Roaion direcion resricion is processed afer phase compensaion processing. Therefore, if undershoo occurs from phase compensaion during deceleraion sop, he roaion direcion resricion amoun migh remain. [Md.325] Synchronous encoder axis saus The each saus for a synchronous encoder axis is moniored wih he following each bis. Bi Sorage iem Sorage deails b0 Seing valid flag A power supply ON, his flag urns ON when he synchronous encoder axis parameer ([Pr.320] o [Pr.329]) is normal and he seing of he synchronous encoder axis is valid. I is urned OFF when he seing is invalid or an error occurs. b1 Connecing valid flag When he synchronous encoder axis seing is valid, he synchronous encoder connecion also becomes valid and his flag urns ON. This flag urns OFF when he connecion is invalid. b2 Couner enable flag This flag urns ON when inpu from he synchronous encoder is enabled. If he couner disable conrol *1 is execued, i is urned OFF, and inpu from he synchronous encoder becomes invalid. If he couner enable conrol *1 is execued, i is urned ON, and inpu from he synchronous encoder becomes valid. When he synchronous encoder is valid o connec, he iniial saus is ON (enable) saus. b3 Curren value seing reques flag This flag urns ON, when a synchronous encoder axis curren value change is never execued. If he curren value seing reques flag is ON for he synchronous encoder connecion, he synchronous encoder axis curren value sars couning wih 0. This flag urns OFF when a synchronous encoder axis curren value change is execued. b4 Error deecion flag This flag urns ON when an error occurs for he synchronous encoder axis. The error No. is sored in "[Md.326] Synchronous encoder axis error No.". Rese he error in "[Cd.323] Synchronous encoder axis error rese". b5 Warning deecion flag This flag urns ON when a warning occurs for he synchronous encoder axis. The warning No. is sored in "[Md.327] Synchronous encoder axis warning No.". Rese he warning in "[Cd.323] Synchronous encoder axis error rese". b6 Sar reques flag This flag urns ON when he link device is assigned o he synchronous encoder axis sar reques signal and he sar is requesed. b7 o b15 No used Always OFF *1 Se he conrol mehod for synchronous encoder in "[Cd.321] Synchronous encoder axis conrol mehod". ( Page 47 Synchronous encoder axis conrol daa) 2 INPUT AXIS MODULE 2.2 Synchronous Encoder Axis 51

54 [Md.326] Synchronous encoder axis error No. When an error for a synchronous encoder axis is deeced, he error code corresponding o he error deails is sored. If se o "1" in "[Cd.323]Synchronous encoder axis error rese", he value is se o "0". [Md.327] Synchronous encoder axis warning No. When a warning for a synchronous encoder axis is deeced, he warning code corresponding o he warning deails is sored. If se o "1" in "[Cd.323] Synchronous encoder axis error rese", he value is se o "0" INPUT AXIS MODULE 2.2 Synchronous Encoder Axis

55 3 CAM FUNCTION The deails on cam daa and operaion for cam funcion in oupu axis (cam axis) are explained in his chaper. The cam funcion conrols oupu axis by creaing cam daa ha corresponds o he operaion. The funcions o operae cam daa include "Cam daa operaion funcion", "Cam auo-generaion funcion", and "Cam posiion calculaion funcion". Refer o he following for he seing of he oupu axis. Page 77 ADVANCED SYNCHRONOUS CONTROL Refer o he following for he cam posiion calculaion funcion. Page 143 Cam Posiion Calculaion Funcion Conrol Deails for Cam Funcion The oupu axis for synchronous conrol is operaed wih a cam. The following operaions can be performed wih cam funcions. Two-way operaion: Reciprocaing operaion wih a consan cam srokes range. Feed operaion: Cam reference posiion is updaed every cycle. Linear operaion: Linear operaion (cam No.0) in he cycle as he sroke raio is 100%. The oupu axis is conrolled by a value (feed curren value), which is convered from he inpu value (cam axis curren value per cycle) by cam daa. Two-way operaion Cam daa Cam axis curren value per cycle (User creaed cam) Cam conversion processing Feed curren value Feed operaion Cam daa Cam axis curren value per cycle (User creaed cam) Cam conversion processing Feed curren value Cam reference posiion (A 1s cycle) Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Linear operaion Cam daa Cam axis curren value per cycle (Linear cam: Cam No.0) Cam conversion processing Feed curren value Cam reference posiion (A 1s cycle) Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Sroke amoun 100% 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion 53

56 Cam daa The cam daa used in he cam funcion includes "sorage daa" which is used for reading/wriing wih EM Configuraor and "open daa" which is ransmied o he inernal memory a cam conrol. Sorage daa (Reading and wriing no possible) Sroke raio daa forma Auo-generaion daa forma Coordinae daa forma Cam for roary cuer (cenral reference) Easy/Advanced sroke raio cam Open daa Linear cam Sroke raio daa forma Coordinae daa forma Sorage daa and open daa are same for cams using he sroke raio daa forma and he coordinae daa forma. A cam using he auo-generaion daa forma (sorage daa) operaes afer being changed (ransmied) o he sroke raio daa forma. Linear cam conrol When "0" is se for "[Pr.440] Cam No.", he cam daa operaes as a sraigh line wih a 100% sroke raio a he las poin. The linear cam does no consume he cam open area. Also, i canno be read/wrien as sorage daa. Cam axis curren value per cycle Feed curren value Cam reference posiion (A 1s cycle) Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Sroke amoun 100% Sroke raio daa forma The sroke raio daa forma is defined in equal divisions for one cam cycle based on he cam resoluion, and configured wih sroke raio daa from poins wihin he cam resoluion. Refer o he following for seing mehods for cam daa. Page 60 Creae Cam Daa Seing iem Seing deails Seing range Defaul value (EM Configuraor) Cam daa operaion funcion Cam No. Se he cam No. 0: Linear cam 1 o 1024: User creaed cam Cam daa forma Se "1". (Seing wih EM Configuraor is no required.) Cam resoluion Cam daa saring poin Sroke raio daa Se he number of divisions for one cam cycle. Se he cam daa poin corresponding o "Cam axis curren value per cycle = 0". Se he sroke raio from he 1s o he las poin. (The 0h poin seing is no required. I is always 0%.) 1 [Cd.601] Operaion cam No. 1: Sroke raio daa forma 1 [Cd.604] Cam daa forma 256/512/1024/2048/ 4096/8192/16384/ [Cd.605] Cam resoluion/ coordinae number 0 o (Cam resoluion - 1) 0 [Cd.606] Cam daa saring poin o [ 10-7 %] *1 ( o %) 0 [Cd.607] Cam daa value *1 To display he sroke raio ou of range 100%, selec "Display advanced cam graph sroke" of he "Cam daa" and click he [OK] buon on he "Opions" window displayed by he menu bar of EM Configuraor [Tools] [Opions] CAM FUNCTION 3.1 Conrol Deails for Cam Funcion

57 Ex. Cam resoluion: 512 Sroke raio [%] (Seing range: % o %) Cam axis lengh per cycle [Cam axis cycle unis] 0 (Cam reference posiion) A he 0h poin A he 512h poin (A he las poin) 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion 55

58 Coordinae daa forma The coordinae daa forma is defined in coordinaes of more han 2 poins for one cam cycle. The coordinae daa is represened as "(Inpu value, Oupu value)". Inpu value: Cam axis curren value per cycle Oupu value: Sroke posiion from cam reference posiion Wih his forma, "[Pr.441] Cam sroke amoun" of oupu axis parameer is ignored and oupu value of he coordinae daa becomes cam sroke posiion. Refer o he following for seing mehods for cam daa. Page 60 Creae Cam Daa Seing iem Seing deails Seing range Defaul value (EM Configuraor) Cam daa operaion funcion Cam No. Se he cam No. 0: Linear cam 1 o 1024: User creaed cam Cam daa forma Se "2". (Seing wih EM Configuraor is no required.) Coordinae number Cam daa saring poin Se he number of coordinae poins in one cam cycle. The coordinaes are included a he 0h poin. Seing is no required wih coordinae daa forma. Coordinae daa Se all coordinae daa (inpu value: X n, oupu value: Y n ). Required o se he coordinae daa (X 0, Y 0 ) from he 0h poin. The inpu value should be larger han he previous coordinae daa (X n < X n + 1 ). 1 [Cd.601] Operaion cam No. 2: Coordinae daa forma 2 [Cd.604] Cam daa forma 2 o [Cd.605] Cam resoluion/ coordinae number [Cd.606] Cam daa saring poin Inpu value: 0 o [Cam axis cycle unis] Oupu value: o [Oupu axis posiion unis] 0 [Cd.607] Cam daa value Oupu value: Y [Oupu axis posiion unis] (X3,Y3) (X4,Y4) (X2,Y2) (X10,Y10) (X5,Y5) (X1,Y1) (X9,Y9) 0 Inpu value: X (Cam reference (X0,Y0) posiion) (X6,Y6) (X8,Y8) (X7,Y7) Cam axis lengh per cycle [Cam axis cycle unis] When an inpu value ha is 0 or he cam axis lengh per cycle does no exis in he coordinae daa, he coordinae is calculaed from he line segmen beween he neares wo coordinaes (Cam reference posiion) Oupu value: Y [Oupu axis posiion unis] Generaed line segmen from (X0,Y0) and (X1,Y1) (X3,Y3) (X4,Y4) Generaed line segmen from (X9,Y9) and (X10,Y10) (X2,Y2) (X1,Y1) (X5,Y5) (X9,Y9) (X0,Y0) 0 Inpu value: X (X6,Y6) (X8,Y8) (X7,Y7) Cam axis lengh per cycle [Cam axis cycle unis] (X10,Y10) 56 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion

59 Auo-generaion daa forma A cam paern is creaed based on he specified parameer (daa for auo-generaion). Conrol cam daa is creaed in he sroke raio daa forma in he cam open area. Therefore, he operaion specificaion during he conrol conforms o he cam operaion in he sroke raio daa forma. The ypes of cam paerns for auo-generaion daa forma are as follows. Auo-generaion ype Cam for roary cuer (cenral reference) Easy sroke raio cam Advanced sroke raio cam CAUTION Feaures The cam paern for a roary cuer can be creaed easily. An adjusmen based on he cener of he shee is carried ou easily. Creae he cam daa such as he sroke raio cam daa creaed wih EM Configuraor. Secions, sroke amouns and cam curve ypes can be specified. Creae he cam daa equal o he sroke raio cam daa creaed wih EM Configuraor. Secions, sroke amouns, cam curve ypes and cam curve deailed parameers can be specified. 3 If he cam daa is se incorrecly, similarly o he incorrec seing of a arge value and command speed in he posiioning conrol, he posiion and speed command o he servo amplifier increases, and may cause machine inerface and servo alarms such as "Overspeed" and "Command frequency error". When creaing and changing cam daa, execue a rial operaion and provide he appropriae adjusmens. Refer o he following for precauions on es operaions and adjusmens. ( Page 1 SAFETY PRECAUTIONS) Feed curren value of cam axis The feed curren value is calculaed as shown below. Sroke raio daa forma Feed curren value = Cam reference posiion + (Cam sroke amoun Sroke raio corresponding o cam axis curren value per cycle) Coordinae daa forma Feed curren value = Cam reference posiion + Oupu value corresponding o cam axis curren value per cycle When he cam axis curren value per cycle is in he middle of he defined cam daa (Sroke raio daa/coordinae daa), he middle value is calculaed from he neares cam daa. Cam axis curren value per cycle Calculae he middle value from he neares cam daa. Cam daa 1 resoluion or beween 2 coordinaes 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion 57

60 Cam reference posiion The cam reference posiion is calculaed as shown below. Sroke raio daa forma Cam reference posiion = The preceding cam reference posiion + (Cam sroke amoun Sroke raio a he las poin) Coordinae daa forma Cam reference posiion = The preceding cam reference posiion + Oupu value corresponding o "Inpu value = Cam axis lengh per cycle" - Oupu value corresponding o "Inpu value = 0" Cam axis curren value per cycle Feed curren value Cam reference posiion (A 1s cycle) Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Creae cam daa for wo-way cam operaion as shown below. Sroke raio daa forma Creae cam daa so ha he sroke raio is 0% a he las poin. Coordinae daa forma Creae cam daa wih he same oupu value for he poin where he inpu value is 0 and he inpu value is equal o he cam axis lengh per cycle. Cam axis curren value per cycle Sroke raio daa forma: Cam sroke amoun Sroke raio a las poin Coordinae daa forma: (The oupu value corresponding o "Inpu value = Cam axis lengh per cycle") - (The oupu value corresponding o "Inpu value = 0") Feed curren value Cam reference posiion (Does no change because of he sroke raio 0% and oupu value = 0.) 58 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion

61 Cam daa saring poin This seing is only valid for cam daa using he sroke raio daa forma. The cam daa poin corresponding o "Cam axis curren value per cycle = 0" can be se as he cam daa saring poin. The defaul value of he cam daa saring poin is 0. (The cam axis is conrolled wih cam daa saring from he 0h poin (sroke raio 0%).) When a value oher han 0 is se for he cam daa saring poin, cam conrol is sared from he poin where he sroke raio is no 0%. The cam daa saring poin is se for each cam daa. The seing range is from 0 o (cam resoluion - 1). Cam axis curren value per cycle 3 Feed curren value Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Cam reference posiion (A 1s cycle) Cam daa saring poin A he 0h poin A las poin Timing of applying cam conrol daa Sroke raio daa forma If "[Pr.439] Cam axis lengh per cycle", "[Pr.440] Cam No." or "[Pr.441] Cam sroke amoun" is changed during synchronous conrol, he new value is acceped and applied when he cam axis curren value per cycle passes hrough he 0h poin of cam daa, or is on he 0h poin. The cam reference posiion is updaed when he cam axis curren value per cycle passes hrough he 0h poin of cam daa. Coordinae daa forma If "[Pr.439] Cam axis lengh per cycle" or "[Pr.440] Cam No." is changed during synchronous conrol, he new value is acceped and applied when he cam axis curren value per cycle passes hrough 0, or is on 0. The cam reference posiion is updaed when he cam axis curren value per cycle passes hrough 0. 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion 59

62 3.2 Creae Cam Daa Memory configuraion of cam daa Cam daa is arranged in he following 2 areas. Memory configuraion Sorage iem Deails Remark Cam sorage area Cam daa Daa is wrien by he following operaions. Wrie wih EM Configuraor When execuing "wrie (Cam sorage area)" wih he cam daa operaion funcion. Cam auo-generaion daa Daa is wrien when he cam auogeneraion reques is execued. (Cam auo-generaion funcion) Cam open area Cam daa Cam daa is ransmied from he cam sorage area by he following operaions. Power supply urn ON Wrie o he cam sorage area When specifying he cam open area wih he cam daa operaion funcion When execuing he cam auogeneraion funcion Daa is preserved even when urning he power supply OFF. Daa is los when urning he power supply OFF. The cam daa ha is used in cam conrol is sored. Previously wrien cam daa can be used afer urning he power supply OFF by wriing daa in he cam sorage area. Cam daa should be wrien in he cam sorage area for normal use. There is he upper limi of wriing numbers o he cam sorage area (flash ROM). If he wriing numbers o he flash ROM exceed he upper limi, he wriing o he flash ROM may be disabled and he error "Flash ROM wrie error" (error code: 1931H) will occur. I is recommended ha daa which is no necessary o be held a he power supply OFF is no wrien in he cam sorage area wih he cam daa operaion funcion and he cam auo-generaion funcion. I is possible o wrie direcly o he cam open area via buffer memory when regisering cam daa ha exceeds he memory capaciy in he cam sorage area, ec. ( Page 63 Cam daa operaion funcion) However, wriing mus be execued o he cam open area every ime due o clearing he daa a he power supply OFF CAM FUNCTION 3.2 Creae Cam Daa

63 2) Operaion wih buffer memory Simple Moion board Buffer memory [Cd.600] Cam daa operaion reques (4: Read) Coordinae daa [Cd.600] Cam daa operaion reques (1: Read) [Cd.600] Cam daa operaion reques (4: Read) Sroke raio daa [Cd.600] Cam daa operaion reques (1: Read) 3 [Cd.600] Cam daa operaion reques (4: Read) Auo-generaion daa Roary cuer Easy sroke raio Advanced sroke raio 1) Operaion wih EM Configuraor EM Configuraor Wrie *1 Read/ Verify *1 [Cd.608] Cam auogeneraion reques [Cd.600] Cam daa operaion reques (2: Wrie) [Cd.600] Cam daa operaion reques (2: Wrie) Auo-generaion daa Roary cuer Easy sroke raio Advanced sroke raio Sroke raio daa Coordinae daa [Cd.608] Cam auo-generaion reques *2 *2 Sroke raio daa Coordinae daa [Cd.600] Cam daa operaion reques (3: Wrie) [Cd.600] Cam daa operaion reques (3: Wrie) Cam sorage area Cam open area *3 (16M byes) Cam conrol *1 The operaion from EM Configuraor is execued oward cam sorage area. *2 Wriing o cam open area is ransmied in he following iming. - Power supply urn ON - When "5: Transfer" is se in "[Cd.600] Cam daa operaion reques" *3 Daa in he cam sorage area is cleared when he power supply is urned ON again or he remoe RESET. 3 CAM FUNCTION 3.2 Creae Cam Daa 61

64 Cam daa operaion wih EM Configuraor Cam daa can be modified while viewing he waveform wih EM Configuraor. The cam daa is wrien/read/verified o he cam sorage area wih EM Configuraor, however i canno be execued o he cam open area. The waveform generaed by he cam auo-generaion funcion can be confirmed by he "Cam graph" on he "Cam Daa" window from he Navigaion window "Cam Daa" hrough reading wih EM Configuraor. Cam daa operaion wih buffer memory I is possible o specify he area where cam daa is wrien. The cam daa is read from he cam open area. ( Page 63 Cam daa operaion funcion) Wih he cam auo-generaion funcion, auo-generaion daa is saved in he cam sorage area, and he cam daa is generaed ino he cam open area. Cam daa capaciy The size of he creaed cam daa is shown below for he cam open area. Operaion mehod Daa mehod/auo-generaion ype Cam open area (16M byes) Creae wih EM Configuraor Auo-generaion daa forma Cam resoluion 4 byes Creae wih cam daa operaion funcion Coordinae daa forma Sroke raio daa forma Coordinae daa forma Coordinae number 8 byes Cam resoluion 4 byes Coordinae number 8 byes Creae wih cam auo-generaion Auo-generaion daa forma Cam for roary cuer (cenral reference) Cam resoluion 4 byes Easy sroke raio cam Advanced sroke raio cam Delee mehod of cam daa The daa of cam sorage area/cam open area can be deleed (iniialize) by he parameer iniializaion funcion wih a parameer seing and posiioning daa. The parameer iniializaion funcion is execued by seing "1" in "[Cd.2] Parameer iniializaion reques". Wrie he empy daa in he cam sorage area wih EM Configuraor o delee only cam daa CAM FUNCTION 3.2 Creae Cam Daa

65 Cam daa operaion funcion This funcion is used o wrie/read cam daa via buffer memory wih he cam operaion conrol daa. To operae he poins more han he amoun of daa for each operaion (as follows), he operaion should be execued separaely. Cam daa forma Amoun of daa for each operaion Sroke raio daa forma Coordinae daa forma Cam operaion conrol daa 3 Seing iem Seing deails Seing value (Read operaion: Sored value) [Cd.600] Cam daa operaion reques [Cd.601] Operaion cam No. [Cd.602] Cam daa firs posiion [Cd.603] Number of cam daa operaion poins [Cd.604] Cam daa forma [Cd.605] Cam resoluion/ coordinae number [Cd.606] Cam daa saring poin [Cd.607] Cam daa value Se he command for operaing cam daa. The Simple Moion board reses he value o "0" auomaically afer compleion of cam daa operaion. Fech cycle: Main cycle *1 Se he operaing cam No. Fech cycle: A requesing cam daa operaion Se he firs posiion for he operaing cam daa. Fech cycle: A requesing cam daa operaion Se he number of operaing cam daa poins. Fech cycle: A requesing cam daa operaion Wrie operaion: Se cam daa forma. Fech cycle: A requesing cam daa operaion Read operaion: The cam daa forma is sored Refresh cycle: A compleing cam daa operaion Wrie operaion: Se he cam resoluion/he coordinae number. Fech cycle: A requesing cam daa operaion Read operaion: The cam resoluion/he coordinae number is sored. Refresh cycle: A compleing cam daa operaion Wrie operaion: Se he cam daa saring poin. Fech cycle: A requesing cam daa operaion Read operaion: The cam daa saring poin is sored. Refresh cycle: A compleing cam daa operaion Seing is no required wih coordinae daa forma. Wrie operaion: Se he cam daa corresponding o he cam daa forma. Fech cycle: A requesing cam daa operaion Read operaion: The cam daa is sored. Refresh cycle: A compleing cam daa operaion Se in decimal. 1: Read (Cam open area) 2: Wrie (Cam sorage area) 3: Wrie (Cam open area) 4: Read (Cam sorage area) 5: Transfer -1: Zero clear Se in decimal. 0: All cams (A ransfer reques only) 1 o 1024 Se in decimal. Sroke raio daa forma: 1 o cam resoluion Coordinae daa forma: 0 o (Coordinae number - 1) Se in decimal. Sroke raio daa forma: 1 o Coordinae daa forma: 1 o Se in decimal. 1: Sroke raio daa forma 2: Coordinae daa forma 102: Cam auo-generaion daa forma for roary cuer cam (Cenral reference) 103: Cam auo-generaion daa forma for easy sroke raio cam 104: Cam auo-generaion daa forma for advanced sroke raio cam Se in decimal. Sroke raio daa forma 256/512/1024/ 2048/4096/8192/16384/32768 Coordinae daa forma: 2 o Se in decimal. Sroke raio daa forma: 0 o (Cam resoluion - 1) Coordinae daa forma: Seing no required Se in decimal. Sroke raio daa forma o [ 10-7 %] Coordinae daa forma Inpu value: 0 o [Cam axis cycle unis *2 ] Oupu value: o [Oupu axis posiion unis *3 ] Defaul value Buffer memory address o *1 Wih he excepion of posiioning conrol, main cycle processing is execued during he nex available ime. I changes by saus of axis sar. *2 Cam axis cycle unis ( Page 110 Unis for he oupu axis) *3 Oupu axis posiion unis ( Page 110 Unis for he oupu axis) 3 CAM FUNCTION 3.2 Creae Cam Daa 63

66 For labels, refer o he following. Page 157 Cam operaion conrol daa: Cam daa operaion [Cd.600] Cam daa operaion reques Se he following commands o wrie/read cam daa. Seing value Deails 1: Read The cam daa is read from he cam open area and sored o he buffer memory. 2: Wrie (Cam sorage area) The cam daa is wrien o he cam sorage area and he cam open area from he buffer memory. 3: Wrie (Cam open area) The cam daa is wrien o he cam open area from he buffer memory. 4: Read (Cam sorage area) The daa is read from he cam sorage area and sored o he buffer memory. 5: Transfer The daa is wrien o he cam open area from he cam sorage area. -1: Zero clear All he buffer memories of "[Cd.607] Cam daa value" are cleared o 0. The seing value is rese o "0" auomaically afer compleion of cam daa operaion. If a warning occurs when requesing cam daa operaion, he warning No. is sored in "[Md.24] Axis warning No." of axis 1, and he seing value is rese o "0" auomaically. When anoher reques command is se, he operaion does no ge execued and he seing value is rese o "0" auomaically. [Cd.601] Operaion cam No. Se he cam No. o wrie/read. [Cd.602] Cam daa firs posiion Se he firs posiion of he cam daa o wrie/read. Se he cam daa firs posiion wihin he range from 1 o he cam resoluion in cam resoluion unis using he sroke raio daa forma. The sroke raio of he 0h cam daa is 0% fixed, and his daa canno be wrien/read. Se a value wihin he range from 0 o (Coordinae number - 1) wih he coordinae daa forma. [Cd.603] Number of cam daa operaion poins Se he number of operaion poins o wrie/read saring from he firs posiion of cam daa. Sroke raio daa forma The following shows he operaion deails when he value of "Cam daa firs posiion + Cam daa operaion poins - 1" is larger han he cam resoluion in he sroke raio daa forma. Operaion Reading Wriing Deails The cam daa from he firs posiion o he cam resoluion is read in he buffer memory. The warning "Ouside number of cam daa operaion poins range" (warning code: 0C43H) occurs, and wriing is no execued. Coordinae daa forma The following shows he operaion deails when he value of "Cam daa firs posiion + Cam daa operaion poins" is larger han he coordinae number wih he coordinae daa forma. Operaion Reading Wriing Deails The cam daa from he firs posiion o he las coordinae is read in he buffer memory. The warning "Ouside number of cam daa operaion poins range" (warning code: 0C43H) occurs, and wriing is no execued CAM FUNCTION 3.2 Creae Cam Daa

67 [Cd.604] Cam daa forma Se one of he following cam daa formas. Seing value Reading (Cam open area) Reading (Cam sorage area) Wriing Deails 1: Sroke raio daa forma 2: Coordinae daa forma 1: Sroke raio daa forma 2: Coordinae daa forma 102: Cam auo-generaion daa forma for roary cuer cam (Cenral reference) 103: Cam auo-generaion daa forma for easy sroke raio cam 104: Cam auo-generaion daa forma for advanced sroke raio cam 1: Sroke raio daa forma 2: Coordinae daa forma 3 [Cd.605] Cam resoluion/coordinae number Se/load he cam resoluion/he coordinae number. Operaion Reading Wriing Deails The cam resoluion/he coordinae number of he se cam daa is read. Se he cam resoluion wih he following values when using he sroke raio daa forma. 256/512/1024/2048/4096/8192/16384/32768 Se he coordinae number wihin he following range when using he coordinae daa forma. 2 o [Cd.606] Cam daa saring poin Se/load he cam daa saring poin. This is used wih he sroke raio daa forma. Operaion Deails Reading The cam saring poin of he se cam daa is read. Wriing Se he cam daa saring poin wihin he range from 0 o (Cam resoluion - 1). 3 CAM FUNCTION 3.2 Creae Cam Daa 65

68 [Cd.607] Cam daa value Se/load he cam daa operaion poins according o one of he following formas. Sroke raio daa forma Buffer memory address Iem Seing value Sroke raio a firs poin o [ 10-7 %] ( o [%]) Sroke raio a second poin Sroke raio a 32768h poin. For labels, refer o he following. Page 157 Cam operaion conrol daa: Cam daa operaion Coordinae daa forma Buffer memory address Iem Seing value A firs poin Inpu value 0 o [Cam axis cycle uni] Oupu value o [Oupu axis posiion uni] A second poin Inpu value 0 o [Cam axis cycle uni] Oupu value o [Oupu axis posiion uni] A 65535h poin Inpu value 0 o [Cam axis cycle uni] Oupu value o [Oupu axis posiion uni] [Cd.601] o [Cd.607] Cam daa No se Se [Cd.600] Cam daa operaion reques For labels, refer o he following. Page 157 Cam operaion conrol daa: Cam daa operaion Auo-generaion daa forma When he reading (cam sorage area) is execued o he cam daa creaed wih he cam auo-generaion or he cam daa creaed wih he cam curve by EM Configuraor, he daa is read as auo-generaion daa forma. Cam for roary cuer (cenral reference) daa Easy sroke raio cam daa Advanced sroke raio cam daa For he buffer memory assignmen a reading, refer o he following. Page 68 [Cd.611] Cam auo-generaion daa However, cam daa creaed by a free-form curve canno be read CAM FUNCTION 3.2 Creae Cam Daa

69 Cam auo-generaion funcion The cam auo-generaion funcion is used o generae cam daa auomaically for specific purposes based on parameer seings. Wih his funcion, cam daa is generaed in he cam open area. I is possible o generae up o 16 Mbye including he regular cam daa. (Example: 1024 cam daa (wih he sroke raio forma, resoluion is 4096) can be auomaically generaed.) The processing ime of cam auo-generaion akes longer if he daa poin is larger. Also, he real processing ime changes by saus of axis sar ec. 3 Cam operaion conrol daa Seing iem Seing deails Seing value Defaul value [Cd.608] Cam auo-generaion reques [Cd.609] Cam auo-generaion cam No. [Cd.610] Cam auo-generaion ype [Cd.611] Cam auo-generaion daa *1 Wih he excepion of posiioning conrol, main cycle processing is execued during he nex available ime. I changes by saus of axis sar. For labels, refer o he following. Page 159 Cam operaion conrol daa: Cam auo-generaion [Cd.608] Cam auo-generaion reques Se "1: Cam auo-generaion reques" or "2: Cam auo-generaion reques (wihou wriing o sorage area)" o execue cam auo-generaion. Cam daa is generaed in he cam open area of he specified cam No. based on he cam auo-generaion daa. The seing value is rese o "0" auomaically afer compleing he process. When "1: Cam auo-generaion reques" is se, he cam auo-generaion daa is saved in he cam sorage area (flash ROM). The cam auo-generaion is execued auomaically again when he nex power supply urns ON or "5: Transfer" is se in "[Cd.600] Cam daa operaion reques". If a warning occurs when requesing cam auo-generaion, he warning No. is sored in "[Md.24] Axis warning No." of axis 1, and he seing value is rese o "0" auomaically. When anoher reques command is se, his funcion does no ge execued and he seing value is rese o "0" auomaically. [Cd.609] Cam auo-generaion cam No. Se he cam No. o be generaed auomaically. [Cd.610] Cam auo-generaion ype Se he ype of cam auo-generaion. Se he reques for cam auo-generaion. The Simple Moion board reses he value o "0" auomaically afer compleion of he cam auogeneraion. Fech cycle: Main cycle *1 Se he cam No. o be generaed auomaically. Fech cycle: A requesing cam auo-generaion Se he ype of cam auo-generaion. Fech cycle: A requesing cam auo-generaion Se he parameers for each ype of cam auogeneraion. Fech cycle: A requesing cam auo-generaion Se in decimal. 1: Cam auo-generaion reques 2: Cam auo-generaion reques (wihou wriing o sorage area) Se in decimal. 1 o 1024 Se in decimal. 2: Cam for roary cuer (Cenral reference) 3: Easy sroke raio cam 4: Advanced sroke raio cam ( Page 68 [Cd.611] Cam auogeneraion daa) Buffer memory address o CAM FUNCTION 3.2 Creae Cam Daa 67

70 [Cd.611] Cam auo-generaion daa Se he cam auo-generaion daa corresponding o "[Cd.610] Cam auo-generaion ype". Cam auo-generaion daa for roary cuer (cenral reference) When he synchronous posiion adjusmen is se o 0, he cam paern of which he shee cener is in he synchronous secion is creaed. Buffer memory address Iem Seing value Deails Cam resoluion 256/512/1024/2048/4096/8192/16384/32768 Se he cam resoluion for generaing he cam Auo-generaion opion Synchronous secion acceleraion raio Bi 0: Acceleraion/deceleraion sysem 0: Trapezoidal acceleraion/deceleraion 1: S-curve acceleraion/deceleraion Bi1: Synchronous axis lengh seing 0: Diameer 1: Cycle lengh For labels, refer o he following. Page 159 Cam operaion conrol daa: Cam auo-generaion Selec he rapezoidal acceleraion/deceleraion sysem or he S-curve acceleraion/deceleraion sysem wih bi 0. Selec he diameer or he cycle lengh for he synchronous axis lengh seing wih bi 1. Se "0" for bi 2 o o 5000 [0.01%] Se when he synchronous speed in he synchronous secion needs o be adjused. The speed is "Synchronous speed (100% + Acceleraion raio)" in he synchronous secion. Shee lengh 1 o [(Opional) Same unis] Shee synchronizaion widh Synchronous axis lengh Synchronous posiion adjusmen Acceleraion/ deceleraion widh Number of cuer Asynchronous speed resul 1 o [(Opional) Same unis] For diameer seing 1 o For cycle lengh seing 1 o [(Opional) Same unis] o [(Opional) Same unis] 0 o [(Opional) Same unis] For a value oher han he above, he acceleraion/deceleraion widh is calculaed o be he maximum. Se he shee lengh. 1 o 256 Se he number of cuer. Se he shee synchronizaion widh (seal widh). When he synchronous speed secion for reracing operaion is required in fron of and behind he shee synchronizaion widh, add he reracing widh. Se he roary cuer axis lengh. When he auo-generaion opion is se o he diameer, i is calculaed as "Cycle lengh = seing value ". When he auo-generaion opion is se o he cycle lengh, i is calculaed as "Cycle lengh = seing value". Se he posiion adjusmen of he synchronous secion. Nagaive value: The synchronous secion is adjused o he shee sar side. 0: The cener of he shee is in he synchronous secion. Posiive value: The synchronous secion is adjused o he shee end side. Se he value wihin one-half of he shee lengh. Se he shee widh (one side) of he acceleraion/ deceleraion area. When a negaive value is se, he acceleraion/deceleraion widh is calculaed o be he maximum. 0 o [0.01 imes] When he cam auo-generaion is successfully performed, he asynchronous speed is sored as he raio of he synchronous speed CAM FUNCTION 3.2 Creae Cam Daa

71 Shee synchronizaion widh Synchronous axis Synchronous axis lengh Synchronous axis cycle lengh/diameer Acceleraion/deceleraion widh Synchronous posiion adjusmen Negaive value: The synchronous secion is adjused o he shee sar side. 0: The cener of he shee is in he synchronous secion. Posiive value: The synchronous secion is adjused o he shee end side. Cam axis curren value per cycle Shee lengh Feed shee 3 Acceleraion/deceleraion widh Shee synchronizaion widh Shee lengh Acceleraion/deceleraion widh Cam axis (Synchronous axis) speed Asynchronous speed (Auomaically calculaed) Synchronous speed (Feed shee speed) Synchronous secion acceleraion raio When 0%, i is as fas as synchronous speed. 100% Cam sroke raio (Cam daa by auo-generaion) Ex. Cam paern creaed a he following seings: Acceleraion/deceleraion sysem = Trapezoidal, Synchronous axis lengh seing = Diameer Synchronous secion acceleraion raio = 3.00% Shee lengh = mm Shee synchronizaion widh = 30.0 mm (Seal secion) mm (Reracing operaion) Synchronous axis lengh = mm (Diameer) Synchronous posiion adjusmen = 20.0 mm Acceleraion/deceleraion widh = 55.0 mm Number of cuer = 1 Synchronous posiion adjusmen = 20.0 mm (The reracing secion is adjused o he shee end side.) Shee synchronizaion widh = 30.0 mm mm Acceleraion/deceleraion widh = 55.0 mm Synchronous axis Synchronous axis lengh = mm (Diameer) Acceleraion/deceleraion widh = 55.0 mm Feed shee Seal secion Reracing secion Cam axis (Synchronous axis) speed Shee lengh = mm Asynchronous speed Synchronous speed (Feed shee speed) Cener of shee Synchronous secion acceleraion raio = 3.00% 3 CAM FUNCTION 3.2 Creae Cam Daa 69

72 [API library] To auomaically generae he cam for roary cuer (cenral reference), use he MMC_Conroller::MakeRoaryCuerCam mehod. Easy sroke raio cam/advanced sroke raio cam Cam daa can be auomaically generaed wihou using he cam daa seing of EM Configuraor by seing he sroke amoun and secions. In easy sroke raio cam, deailed coefficiens of he cam curve are omied and he curves and number of secions ha can be used are limied. Wih he curren value per cycle "0" as saring poin, auomaically generaes cam daa from he sroke and cam curve ype of each secion unil he specified end poin (cam axis curren value per cycle). Sroke: Y [Opional uni] (X1,Y1) (X2,Y2) Cam axis lengh per cycle (X3,Y3) (X number of secion, Y number of secion) 0 (Cam reference posiion) (X4,Y4) End poin: X Secion 1 Secion 3 Secion 4 Secion 5 Secion 2 (X5,Y5) 70 3 CAM FUNCTION 3.2 Creae Cam Daa

73 Easy sroke raio cam daa for auo-generaion Buffer memory address Iem Seing value Deails Cam resoluion 256/512/1024/2048/4096/8192/16384/ Cam axis lengh per cycle *1 1 o [(Opional) Same unis (0.1 mm, ec.)] Se he cam resoluion for generaing he cam. Se he required inpu amoun wih he cam per cycle. Cam daa saring poin 0 o (Resoluion - 1) Se he saring poin as he poin corresponding o "cycle lengh = 0" of cam daa Number of secions 1 o 32 Se he number of secions of cam daa. Se daa for he number of secions specified Secion 1 Cam curve ype *2 0: Consan speed 1: Consan acceleraion 2: Disored rapezoid 3: Disored sine 4: Disored consan speed 5: Cycloid 6: 5h curve End poin 1 o Cam axis lengh per cycle [Cam axis lengh per cycle unis] *3 Sroke o [ %] Secion 2 Cam curve ype *2 0: Consan speed 1: Consan acceleraion 2: Disored rapezoid 3: Disored sine 4: Disored consan speed 5: Cycloid 6: 5h curve End poin Secion Cam curve ype * o Cam axis lengh per cycle [Cam axis lengh per cycle unis] *3 Sroke o [ %] End poin 0: Consan speed 1: Consan acceleraion 2: Disored rapezoid 3: Disored sine 4: Disored consan speed 5: Cycloid 6: 5h curve 1 o Cam axis lengh per cycle [Cam axis lengh per cycle unis] *3 Sroke o [ %] Se he cam curve. Se he poin for cam axis lengh per cycle (cam axis curren value per cycle). I is necessary o se a value larger han he end poin immediaely before (Xn < Xn + 1). Also, for he final end poin, se as he cam axis lengh per cycle. Se he sroke posiion from he cam reference posiion of when a he end poin specified by cam axis curren value per cycle. When se a " ", i becomes he posiion se in "[Pr.441] Cam sroke amoun". The daa specified by "number of secions" becomes valid. I is no necessary o se he daa afer he specified number of secions. 3 *1 The se value is only used for cam daa generaion. Conrol is performed by he oupu axis parameer "[Pr.439] Cam axis lengh per cycle". *2 Refer o he following for he shapes of each cam ype. Use P1 = 0, P2 = 1.00, and defaul values for L1 and L2. Page 75 [Cam curve lis] *3 If seing is ouside range, he cam axis lengh per cycle will be se as he final end poin of he secion seings. For labels, refer o he following. Page 159 Cam operaion conrol daa: Cam auo-generaion 3 CAM FUNCTION 3.2 Creae Cam Daa 71

74 Advanced sroke raio cam daa for auo-generaion Buffer memory address Iem Seing value Deails Uni seing Cam resoluion 256/512/1024/2048/4096/8192/16384/ Cam axis lengh per cycle *3 1 o [Cam axis lengh per cycle unis] Cam sroke amoun *3 1 o [Cam sroke amoun unis] When a value ouside he range is se, cam daa is generaed from he defaul value (H7952). Se he cam resoluion for generaing he cam. Se he required inpu amoun wih he cam per cycle. Se he reference value for he sroke amoun specified by sroke (Yn). When he cam sroke amoun unis are "%", his is ignored. Se he display uni of he cam axis lengh per cycle, and he uni for cam sroke amoun in hexadecimal. Cam daa saring poin 0 o (Resoluion - 1) Se he saring poin as he poin corresponding o "cycle lengh = 0" of cam daa Number of secions 1 o 360 Se he number of secions of cam daa. Se daa for he number of secions specified Secion 1 Cam curve ype *2 0: Consan speed 1: Consan acceleraion 2: Disored rapezoid 3: Disored sine 4: Disored consan speed 5: Cycloid 6: 5h curve 7: Trapecloid 8: Reverse rapecloid 9: Double hypoenuse 10: Reverse double hypoenuse 11: Single hypoenuse End poin (X1) Curve applicable range (P1) Curve applicable range (P2) Acceleraion/ deceleraion range compensaion (Range L1) * Acceleraion/ deceleraion range compensaion (Range L2) *2 H Cam axis lengh per cycle unis (Display) 0: mm 1: inch 2: degree 3: pulse Number of decimal places 0 o 9 Cam sroke amoun 0: mm 1: inch 2: degree 3: pulse 9: % Number of decimal places 0 o 9 1 o Cam axis lengh per cycle [Cam axis lengh per cycle unis] *1 Sroke (Y1) * o [Cam sroke unis] Se he cam curve. Se he poin for cam axis lengh per cycle (cam axis curren value per cycle). I is necessary o se a value larger han he end poin immediaely before (Xn < Xn + 1). Also, for he final end poin, se as he cam axis lengh per cycle. Se he sroke posiion from he cam reference posiion of when a he end poin specified by cam axis curren value per cycle. 0 o 100 [ 0.01] Se he curve applicable range (sar poin: P1, end poin: P2) for he cam curve. Se so ha "P1 < P2". When "P1 = P2 = 0", "P1 = 0" and "P2 = 100" are applied. 1 o 9999 [ ] Se he acceleraion/deceleraion range (L1, L2) for he cam curve. The range ha can be se differs depending on he cam curve. When "L1 = L2 = 0", he defaul value for each curve is applied CAM FUNCTION 3.2 Creae Cam Daa

75 Buffer memory address Iem Seing value Deails Secion 2 Cam curve ype *2 0: Consan speed 1: Consan acceleraion 2: Disored rapezoid 3: Disored sine 4: Disored consan speed 5: Cycloid 6: 5h curve 7: Trapecloid 8: Reverse rapecloid 9: Double hypoenuse 10: Reverse double hypoenuse 11: Single hypoenuse End poin (X2) Curve applicable range (P1) Curve applicable range (P2) Acceleraion/ deceleraion range compensaion (Range L1) * Acceleraion/ deceleraion range compensaion (Range L2) * Secion Cam curve ype * o Cam axis lengh per cycle [Cam axis lengh per cycle unis] *1 Sroke (Y2) * o [Cam sroke unis] End poin (X32) Curve applicable range (P1) Curve applicable range (P2) Acceleraion/ deceleraion range compensaion (Range L1) * Acceleraion/ deceleraion range compensaion (Range L2) *2 0 o 100 [ 0.01] 1 o 9999 [ ] 0: Consan speed 1: Consan acceleraion 2: Disored rapezoid 3: Disored sine 4: Disored consan speed 5: Cycloid 6: 5h curve 7: Trapecloid 8: Reverse rapecloid 9: Double hypoenuse 10: Reverse double hypoenuse 11: Single hypoenuse 1 o Cam axis lengh per cycle [Cam axis lengh per cycle unis] Sroke (Y32) * o [Cam sroke unis] *1 0 o 100 [ 0.01] 1 o 9999 [ ] The daa specified by "number of secions" becomes valid. I is no necessary o se he daa afer he specified number of secions. 3 3 CAM FUNCTION 3.2 Creae Cam Daa 73

76 *1 If seing is ouside range, he cam axis lengh per cycle will be se as he final end poin of he secion seings. *2 Refer o he following for he shapes of each cam ype and ranges/defaul value for L1 and L2. Se "0" for he ypes of cam curves ha do no use L1 and L2. Page 75 [Cam curve lis] *3 The se value is only used for cam daa generaion. Conrol is performed by he oupu axis parameer "[Pr.439] Cam axis lengh per cycle" and "[Pr.441] Cam sroke amoun". *4 When he cam sroke amoun unis is a uni oher han "%", se he sroke amoun so ha "Sroke (Yn) / cam sroke amoun" is inside he range of " o ". For labels, refer o he following. Page 159 Cam operaion conrol daa: Cam auo-generaion Se daa for he number of secions specified. I is no necessary o se he daa afer he number of secions specified. Se he end poin daa in ascending order. Various cam paerns are creaed by he seing of he sroke and cam daa of each secion. If he amoun of change in sroke is large, i may cause a servo error in he servo amplifier including overspeed, command frequency error ec. When creaing cam, confirm he cam operaion in amplifier-less operaion. Cam daa will end a he secion where he end poin is exceeds he cam axis lengh per cycle se by he auo-generaion daa CAM FUNCTION 3.2 Creae Cam Daa

77 [Cam curve lis] : Sroke raio : Acceleraion : Range L1 : Range L2 Cam curve ype Acceleraion curve shape Curve applicable range (P1 o P2) Seing value Acceleraion/deceleraion range compensaion ( ): Defaul value Cam curve name Range L1 Range L2 0 Consan speed Disconinuous 0.00 o Consan acceleraion P1 P o Disored rapezoid Two-dwelling symmerical P1 P o o (0.1250) P1 P2 3 Disored sine 0.00 o o (0.1250) 4 Disored consan speed P1 P o o (0.0625) o (0.2500) P1 P2 5 Cycloid 0.00 o 1.00 P1 6 5h curve 0.00 o 1.00 P2 P1 P2 3 CAM FUNCTION 3.2 Creae Cam Daa 75

78 Cam curve ype Acceleraion curve shape Curve applicable range (P1 o P2) Seing value 7 Trapecloid Two-dwelling asymmerical 0.00 o o (0.1250) Acceleraion/deceleraion range compensaion ( ): Defaul value Cam curve name Range L1 Range L2 P1 8 Reverse rapecloid 0.00 o o (0.1250) P2 P1 P2 9 Double hypoenuse One-dwelling 0.00 o 1.00 P1 P2 10 Reverse double hypoenuse 0.00 o Single hypoenuse Non-dwelling curve P1 P o 1.00 P1 P2 [API library] To auomaically generae he easy sroke raio cam, use he MMC_Conroller::MakeEasySrokeRaioCam mehod. To auomaically generae he advanced sroke raio cam, use he MMC_Conroller::MakeAdvancedSrokeRaioCam mehod CAM FUNCTION 3.2 Creae Cam Daa

79 4 ADVANCED SYNCHRONOUS CONTROL The parameers and monior daa for synchronous conrol such as "Main shaf module", "Speed change gear module", and "Oupu axis module" are explained in his chaper. Configure he required seings according o he conrol and applicaion requiremens for each module. 4.1 Main Shaf Module Overview of main shaf module For he main shaf module, he inpu value is generaed as a composie value from wo inpu axes (he main and sub inpu axis) hrough he composie main shaf gear. The composie inpu value can be convered by he main shaf gear ha provides he deceleraion raio and he roaion direcion for he machine sysem, ec. Refer o he followings for deails on seing for he main shaf module. Page 78 Main shaf parameers, Page 80 Main shaf cluch parameers 4 [Pr.400] Main inpu axis No. [Pr.402] Composie main shaf gear [Pr.403] Main shaf gear: Numeraor [Pr.404] Main shaf gear: Denominaor Main shaf main inpu axis Composie main shaf gear Main shaf gear [Pr.401] Sub inpu axis No. Main shaf sub inpu axis [Md.400] Curren value afer composie main shaf gear Main shaf cluch *1 [Md.401] Curren value per cycle afer main shaf gear Speed change gear/ Composie auxiliary shaf gear *1 Page 94 Cluch 4 ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module 77

80 Main shaf parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.400] Main inpu axis No. [Pr.401] Sub inpu axis No. [Pr.402] Composie main shaf gear Se he inpu axis No. on he main inpu side for he main shaf. Fech cycle: A sar of synchronous conrol Se he inpu axis No. on he sub inpu side for he main shaf. Fech cycle: A sar of synchronous conrol Selec he composie mehod for inpu values from he main inpu axis and sub inpu axis. Fech cycle: Operaion cycle Se in decimal. 0: Invalid 1 o 16: Servo inpu axis 801 o 816: Synchronous encoder axis Se in decimal. 0: Invalid 1 o 16: Servo inpu axis 801 o 816: Synchronous encoder axis n n Se in hexadecimal. 0001H n H Main inpu mehod 0: No inpu 1: Inpu + 2: Inpu - Sub inpu mehod 0: No inpu 1: Inpu + 2: Inpu - [Pr.403] Main shaf gear: Numeraor Se he numeraor for he main shaf gear. Fech cycle: A sar of synchronous conrol Se in decimal o n n [Pr.404] Main shaf gear: Denominaor Se he denominaor for he main shaf gear. Fech cycle: A sar of synchronous conrol Se in decimal. 1 o n n For labels, refer o he following. Page 152 Synchronous parameers: Main shaf [Pr.400] Main inpu axis No., [Pr.401] Sub inpu axis No. Se he main inpu axis No. and he sub inpu axis No. for he main shaf. Seing value Deails 0: Invalid The inpu value is always 0. 1 o 16: Servo inpu axis Se he servo inpu axis (axis 1 o axis 16). When he servo inpu axis is no se in he sysem seing, he inpu value is always 0. If he No. is se o he same value as he oupu axis,he following errors occur and synchronous conrol canno be sared. Ouside main inpu axis No. range (error code: 1BE0H) Ouside sub inpu axis No. range (error code: 1BE1H) 801 o 816: Synchronous encoder axis Se he synchronous encoder axis (axis 1 o axis 16). When he synchronous encoder axis is invalid, he inpu value is always ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module

81 [Pr.402] Composie main shaf gear Se he composie mehod for inpu values from he main and sub inpu axes. The seing values for each axis are shown as follows. Seing value Deails 0: No inpu The inpu value from he inpu axis is calculaed as 0. 1: Inpu+ The inpu value from he inpu axis is calculaed as i is. 2: Inpu- The inpu value from he inpu axis is calculaed wih is opposie sign. Operaion assumes "0: No inpu" if he value is se ou of he range from 0 o 2. The composie mehod for he composie main shaf gear can be changed during synchronous conrol. I is used as a cluch o swich inpu values beween he main and he sub inpu axes. 4 [Pr.403] Main shaf gear: Numeraor, [Pr.404] Main shaf gear: Denominaor Se he numeraor and he denominaor for he main shaf gear o conver he inpu value. The inpu value is convered as follows. [Pr.403] Main shaf gear: Numeraor Inpu value afer conversion = Inpu value before conversion [Pr.404] Main shaf gear: Denominaor The inpu value direcion can be reversed by seing a negaive value in he numeraor of he main shaf gear. Se he denominaor of he main shaf gear o a value wihin he range from 1 o Ex. Conver he cam axis per cycle o be conrolled in inervals of 0.1 mm ( inch). The cam axis synchronizes wih a conveyer ha moves 100 mm (3.937 inch) for every ( degree) of he main shaf. "[Pr.403] Main shaf gear: Numeraor": 1000 [ 0.1 mm] "[Pr.404] Main shaf gear: Denominaor": [ 10-5 degree] 4 ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module 79

82 Main shaf cluch parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.405] Main shaf cluch conrol seing Se he conrol mehod for he cluch. Fech cycle: Operaion cycle Buffer memory address Se in hexadecimal. 0000H n H ON conrol mode 0: No cluch 1: Cluch command ON/OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 6: Main shaf cluch conrol reques ON/OFF 7: Main shaf cluch conrol reques leading edge 8: Main shaf cluch conrol reques railing edge OFF conrol mode 0: OFF conrol invalid 1: One-sho OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 7: Main shaf cluch conrol reques leading edge 8: Main shaf cluch conrol reques railing edge [Pr.406] Main shaf cluch reference address seing Se he reference address for he cluch. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Curren value afer composie main shaf gear 1: Curren value per cycle afer main shaf gear n [Pr.407] Main shaf cluch ON address Se he cluch ON address for address mode. (This seing is invalid excep during address mode.) If he address is ou of he range from 0 o (Cam axis lengh per cycle - 1), he address is convered o a value wihin range. Fech cycle: Operaion cycle Se in decimal o [Main inpu axis posiion unis *1, or cam axis cycle unis *2 ] n n [Pr.408] Movemen amoun before main shaf cluch ON Se he movemen amoun beween he cluch ON condiion compleing and he cluch closing. Se a posiive value when he reference address is increasing, and a negaive value when i is decreasing. Fech cycle: A compleing cluch ON condiion Se in decimal o [Main inpu axis posiion unis *1, or cam axis cycle unis *2 ] n n [Pr.409] Main shaf cluch OFF address Se he cluch OFF address for he address mode. (This seing is invalid excep during address mode.) If he address is ou of he range from 0 o (Cam axis lengh per cycle - 1), he address is convered o a value wihin range. Fech cycle: Operaion cycle Se in decimal o [Main inpu axis posiion unis *1, or cam axis cycle unis *2 ] n n [Pr.410] Movemen amoun before main shaf cluch OFF Se he movemen amoun beween he cluch OFF condiion compleing and he cluch opening. Se a posiive value when he reference address is increasing, and a negaive value when i is decreasing. Fech cycle: A compleing cluch OFF condiion Se in decimal o [Main inpu axis posiion unis *1, or cam axis cycle unis *2 ] n n [Pr.411] Main shaf cluch smoohing mehod Se he cluch smoohing mehod. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Direc 1: Time consan mehod (Exponen) 2: Time consan mehod (Linear) 3: Slippage mehod (Exponen) 4: Slippage mehod (Linear) 5: Slippage mehod (Linear: Inpu value follow up) n 80 4 ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module

83 Seing iem Seing deails Seing value Defaul value [Pr.412] Main shaf cluch smoohing ime consan [Pr.413] Slippage amoun a main shaf cluch ON [Pr.414] Slippage amoun a main shaf cluch OFF For smoohing wih a ime consan mehod, se he smoohing ime consan. Fech cycle: A sar of synchronous conrol For smoohing wih a slippage mehod, se he slippage amoun a cluch ON. Fech cycle: A urning cluch ON. For smoohing wih a slippage mehod, se he slippage amoun a cluch OFF. Fech cycle: A urning cluch OFF. *1 Main inpu axis posiion unis ( Page 24 INPUT AXIS MODULE) *2 Cam axis cycle unis ( Page 110 Unis for he oupu axis) For labels, refer o he following. Page 152 Synchronous parameers: Main shaf Se in decimal. 0 o 5000 [ms] Se in decimal. 0 o [Main inpu axis posiion unis *1, or cam axis cycle unis *2 ] Se in decimal. 0 o [Main inpu axis posiion unis *1, or cam axis cycle unis *2 ] Buffer memory address n n n n n 4 [Pr.405] Main shaf cluch conrol seing Se he ON and OFF conrol mehods separaely for he main shaf cluch. The cluch conrol seing can be changed during synchronous conrol, however, he seing "No cluch" (Direc coupled operaion) canno be seleced during synchronous conrol afer already selecing anoher seing. Refer o he following for operaion deails on he cluch conrol. Page 94 Conrol mehod for cluch ON conrol mode Seing value 0: No cluch (Direc coupled operaion) Deails Execue direc coupled operaion wihou cluch conrol. 1: Cluch command ON/OFF The cluch is urned ON/OFF by he operaion of "[Cd.400] Main shaf cluch command" ON/OFF. (Seing in he OFF conrol mode are no applicable in his mode.) 2: Cluch command leading edge The cluch is urned ON when "[Cd.400] Main shaf cluch command" passes he leading edge (from OFF o ON). 3: Cluch command railing edge The cluch is urned ON when "[Cd.400] Main shaf cluch command" passes he railing edge (from ON o OFF). 4: Address mode The cluch is urned ON when he reference address (he curren value afer composie main shaf gear or he curren value per cycle afer main shaf gear) reaches "[Pr.407] Main shaf cluch ON address". The movemen amoun afer passing hrough he ON address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. 6: Main shaf cluch conrol reques ON/OFF 7: Main shaf cluch conrol reques leading edge 8: Main shaf cluch conrol reques railing edge The cluch is urned ON/OFF by ON/OFF operaion of he link device assigned o he main shaf cluch conrol reques by he link device exernal signal assignmen funcion. (Seing in he OFF conrol mode are no applicable in his mode.) The cluch is urned ON when he link device assigned o he main shaf cluch conrol reques by he link device exernal signal assignmen funcion passes he leading edge (from OFF o ON). The cluch is urned ON when he link device assigned o he main shaf cluch conrol reques by he link device exernal signal assignmen funcion passes he railing edge (from ON o OFF). Oher cluch parameers are no applicable during direc coupled operaion by seing "0: No cluch". "[Cd.402] Main shaf cluch forced OFF command" and he change of he cluch conrol seing are ignored during direc coupled operaion. 4 ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module 81

84 OFF conrol mode Seing value Deails 0: OFF conrol invalid Cluch OFF conrol is no used. This seing is applicable only for execuion wih cluch ON conrol. 1: One-sho OFF The cluch is urned OFF afer moving he disance "[Pr.410] Movemen amoun before main shaf cluch OFF" (Onesho operaion) afer he cluch command urns ON. If "[Pr.410] Movemen amoun before main shaf cluch OFF" is 0, "[Md.420] Main shaf cluch ON/OFF saus" does no urn ON in order o urn back OFF immediaely. 2: Cluch command leading edge The cluch is urned OFF when "[Cd.400] Main shaf cluch command" passes he leading edge (from OFF o ON). 3: Cluch command railing edge The cluch is urned OFF when "[Cd.400] Main shaf cluch command" passes he railing edge (from ON o OFF). 4: Address mode The cluch is urned OFF when he reference address (he curren value afer composie main shaf gear or he curren value per cycle afer main shaf gear) reaches "[Pr.409] Main shaf cluch OFF address". The movemen amoun before passing hrough he OFF address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. 7: Main shaf cluch conrol reques leading edge 8: Main shaf cluch conrol reques railing edge The cluch is urned OFF when he link device assigned o he main shaf cluch conrol reques by he link device exernal signal assignmen funcion passes he leading edge (from OFF o ON). The cluch is urned OFF when he link device assigned o he main shaf cluch conrol reques by he link device exernal signal assignmen funcion passes he railing edge (from ON o OFF). [Pr.406] Main shaf cluch reference address seing Selec he address ype o be used as he reference address for cluch conrol. Noe ha he processing order of he main shaf gear and he main shaf cluch will change depending on he reference address seing. Seing value 0: Curren value afer composie main shaf gear 1: Curren value per cycle afer main shaf gear Deails The cluch is conrolled by using he curren value afer composie main shaf gear as a reference. Oupu afer he cluch is a convered movemen amoun hrough he main shaf gear. The cluch is conrolled by using he curren value per cycle afer main shaf gear. Oupu afer he cluch is a movemen amoun wihou conversion. The seing values for he following parameers are in unis based on he reference address seing. "[Pr.407] Main shaf cluch ON address" "[Pr.409] Main shaf cluch OFF address" "[Pr.408] Movemen amoun before main shaf cluch ON", "[Pr.410] Movemen amoun before main shaf cluch OFF" "[Pr.413] Slippage amoun a main shaf cluch ON", "[Pr.414] Slippage amoun a main shaf cluch OFF" [Pr.407] Main shaf cluch ON address Se he cluch ON address when address mode is configured for he ON conrol mode of he main shaf cluch. When he reference address is he curren value per cycle afer main shaf gear, he seing address is convered for conrol wihin he range from 0 o (Cam axis lengh per cycle - 1). Ex. Cam axis lengh per cycle: pulses The ON address is conrolled as pulses when he seing value is "-1000" ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module

85 [Pr.408] Movemen amoun before main shaf cluch ON Se he movemen amoun of he reference address wih a signed value beween he cluch ON condiion compleing and he cluch closing. Seing value Deails 1 o (Posiive value) Used when he reference address is increasing in direcion. 0 No movemen amoun (The cluch is immediaely urned ON wih he cluch ON condiion compleing.) o -1 (Negaive value) Used when he reference address is decreasing in direcion. Cluch ON condiion is compleed (Example: [Cd.400] Main shaf cluch command ON) [Md.420] Main shaf cluch ON/OFF saus [Md.400] Curren value afer composie main shaf gear or [Md.401] Curren value per cycle afer main shaf gear Movemen amoun afer cluch [Pr.408] Movemen amoun before main shaf cluch ON (Posiive value) 4 [Pr.409] Main shaf cluch OFF address Se he cluch OFF address when address mode is configured for he OFF conrol mode of he main shaf cluch. When he reference address is he curren value per cycle afer main shaf gear, he seing address is convered for conrol wihin he range from 0 o (Cam axis lengh per cycle - 1). Ex. Cam axis lengh per cycle: pulses The OFF address is conrolled as 60 pulses when he seing value is "40060". [Pr.410] Movemen amoun before main shaf cluch OFF Se he movemen amoun of he reference address wih a signed value beween he cluch OFF condiion compleing and he cluch opening. Seing value Deails 1 o (Posiive value) Used when he reference address is increasing in direcion. 0 No movemen amoun (The cluch is immediaely urned OFF wih he cluch OFF condiion compleing.) o -1 (Negaive value) Used when he reference address is decreasing in direcion. Cluch OFF condiion is compleed (Example: [Cd.400] Main shaf cluch command OFF) [Md.420] Main shaf cluch ON/OFF saus [Md.400] Curren value afer composie main shaf gear or [Md.401] Curren value per cycle afer main shaf gear Movemen amoun afer cluch [Pr.410] Movemen amoun before main shaf cluch OFF (Posiive value) 4 ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module 83

86 [Pr.411] Main shaf cluch smoohing mehod Se he smoohing mehod for cluch ON/OFF. Refer o he following. Page 101 Smoohing mehod for cluch Seing value Deails 0: Direc No smoohing 1: Time consan mehod (Exponen) Smoohing wih an exponenial curve based on he ime consan seing. 2: Time consan mehod (Linear) Smoohing wih linear acceleraion/deceleraion based on he ime consan seing. 3: Slippage mehod (Exponen) Smoohing wih an exponenial curve based on he slippage amoun seing. 4: Slippage mehod (Linear) Smoohing wih linear acceleraion/deceleraion based on he slippage amoun seing. 5: Slippage mehod (Linear: Inpu Smoohing wih linear acceleraion/deceleraion based on he slippage amoun seing (inpu value follow up). value follow up) [Pr.412] Main shaf cluch smoohing ime consan Se a ime consan when he ime consan mehod is se in "[Pr.411] Main shaf cluch smoohing mehod". The ime consan seing applies for cluch ON/OFF. [Pr.413] Slippage amoun a main shaf cluch ON Se he slippage amoun a cluch ON when he slippage mehod is se in "[Pr.411] Main shaf cluch smoohing mehod". The slippage amoun is se in unis based on he curren value seleced in "[Pr.406] Main shaf cluch reference address seing". If he se amoun is negaive, slippage amoun a cluch ON is conrolled as 0 (direc). [Pr.414] Slippage amoun a main shaf cluch OFF Se he slippage amoun a cluch OFF when he slippage mehod is se in "[Pr.411] Main shaf cluch smoohing mehod". The slippage amoun is se in unis based on he curren value seleced in "[Pr.406] Main shaf cluch reference address seing". If he se amoun is negaive, slippage amoun a cluch OFF is conrolled as 0 (direc) ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module

87 Main shaf cluch conrol daa n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.400] Main shaf cluch command Se he cluch command ON/OFF. Fech cycle: Operaion cycle Se in decimal. 0: Main shaf cluch command OFF 1: Main shaf cluch command ON n [Cd.401] Main shaf cluch conrol invalid command Se "1" o disable he cluch conrol emporarily. Fech cycle: Operaion cycle Se in decimal. 0: Main shaf cluch conrol valid 1: Main shaf cluch conrol invalid n [Cd.402] Main shaf cluch forced OFF command Se "1" o force he cluch OFF. Fech cycle: Operaion cycle Se in decimal. 0: Main shaf cluch normal conrol 1: Main shaf cluch forced OFF n 4 For labels, refer o he following. Page 157 Conrol daa for synchronous conrol [Cd.400] Main shaf cluch command Se ON/OFF for he main shaf cluch command. This command is used when he cluch ON conrol mode is "1: Cluch command ON/OFF", "2: Cluch command leading edge" or "3: Cluch command railing edge" and he cluch OFF conrol mode is "2: Cluch command leading edge" or "3: Cluch command railing edge". Saus is considered as cluch command OFF jus before saring synchronous conrol. If synchronous conrol is sared while he cluch command is ON, he condiion is esablished jus afer saring synchronous conrol, by seing "2: Cluch command leading edge". The condiion is no esablished jus afer saring, by seing "3: Cluch command railing edge". [Cd.401] Main shaf cluch conrol invalid command The main shaf cluch conrol is invalid if "1" is se. The previous cluch ON/OFF saus remains before cluch conrol becomes invalid. Cluch conrol will no become invalid during he movemen before cluch ON and cluch OFF. Insead, cluch conrol will become invalid afer movemen is compleed. [Cd.402] Main shaf cluch forced OFF command Se "1" o force he cluch OFF. The oupu value from he cluch becomes 0 immediaely, even during cluch smoohing. The slippage (accumulaive) amoun is se o 0 if smoohing wih a slippage mehod. Rese o "0" o resar he cluch conrol from he cluch OFF saus afer using he cluch forced OFF command. 4 ADVANCED SYNCHRONOUS CONTROL 4.1 Main Shaf Module 85

88 4.2 Auxiliary Shaf Module Overview of auxiliary shaf module For he auxiliary shaf module, he inpu value is generaed from he auxiliary shaf. The inpu value can be convered by he auxiliary shaf gear ha provides he deceleraion raio and he roaion direcion for he machine sysem, ec. Refer o he followings for deails on seing for he auxiliary shaf module. Page 86 Auxiliary shaf parameers, Page 88 Auxiliary shaf cluch parameers Main shaf inpu/speed change gear [Pr.420] Auxiliary shaf gear: Numeraor [Pr.421] Auxiliary shaf gear: Denominaor Auxiliary shaf gear Auxiliary shaf cluch *1 Composie auxiliary shaf gear [Pr.419] Composie auxiliary shaf gear [Pr.418] Auxiliary shaf axis No. Auxiliary shaf axis [Md.402] Curren value per cycle afer auxiliary shaf gear Speed change gear/oupu axis *1 Page 94 Cluch Auxiliary shaf parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.418] Auxiliary shaf axis No. [Pr.419] Composie auxiliary shaf gear [Pr.420] Auxiliary shaf gear: Numeraor [Pr.421] Auxiliary shaf gear: Denominaor Se he inpu axis No. for he auxiliary shaf. Fech cycle: A sar of synchronous conrol Selec he composie mehod for inpu values from he main shaf and he auxiliary shaf. Fech cycle: Operaion cycle Se he numeraor for he auxiliary shaf gear. Fech cycle: A sar of synchronous conrol Se he denominaor for he auxiliary shaf gear. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Invalid 1 o 16: Servo inpu axis 801 o 816: Synchronous encoder axis n Se in hexadecimal. 0001H n H Se in decimal o Se in decimal. 1 o Main shaf inpu mehod 0: No inpu 1: Inpu + 2: Inpu - Auxiliary shaf inpu mehod 0: No inpu 1: Inpu + 2: Inpu n n n n For labels, refer o he following. Page 153 Synchronous parameers: Auxiliary shaf 86 4 ADVANCED SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module

89 [Pr.418] Auxiliary shaf axis No. Se he inpu axis No. for he auxiliary shaf. Seing value Deails 0: Invalid The inpu value is always 0. 1 o 16: Servo inpu axis Se he servo inpu axis (axis 1 o axis 16). When he servo inpu axis is no se in he sysem seing, he inpu value is always 0. If he No. is se o he same value as he oupu axis, he error "Ouside auxiliary shaf No. range" (error code: 1BF0H) occurs and synchronous conrol canno be sared. 801 o 816: Synchronous encoder axis Se he synchronous encoder axis (axis 1 o axis 16). When he synchronous encoder axis is invalid, he inpu value is always 0. [Pr.419] Composie auxiliary shaf gear Se he composie mehod for inpu values from he main and auxiliary shafs. The seing values for each axis are shown as follows. 4 Seing value Deails 0: No inpu The inpu value from he inpu axis is calculaed as 0. 1: Inpu+ The inpu value from he inpu axis is calculaed as i is. 2: Inpu- The inpu value from he inpu axis is calculaed wih is opposie sign. Operaion assumes "0: No inpu" if he value is se ou of he range from 0 o 2. The composie mehod for he composie auxiliary shaf gear can be changed during synchronous conrol. I is used as a cluch o swich inpu values beween he main and he auxiliary shafs. [Pr.420] Auxiliary shaf gear: Numeraor, [Pr.421] Auxiliary shaf gear: Denominaor Se he numeraor and he denominaor for auxiliary shaf gear o conver he inpu value. The inpu value is convered as follows. [Pr.420] Auxiliary shaf gear: Numeraor Inpu value afer conversion = Inpu value before conversion [Pr.421] Auxiliary shaf gear: Denominaor The inpu value direcion can be reversed by seing a negaive value in he numeraor of he auxiliary shaf gear. Se he denominaor of he auxiliary shaf gear o a value wihin he range from 1 o ADVANCED SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module 87

90 Auxiliary shaf cluch parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.422] Auxiliary shaf cluch conrol seing Se he conrol mehod for he cluch. Fech cycle: Operaion cycle Buffer memory address Se in hexadecimal. 0000H n H ON conrol mode 0: No cluch 1: Cluch command ON/OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 6: Auxiliary shaf cluch conrol reques ON/OFF 7: Auxiliary shaf cluch conrol reques leading edge 8: Auxiliary shaf cluch conrol reques railing edge OFF conrol mode 0: OFF conrol invalid 1: One-sho OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 7: Auxiliary shaf cluch conrol reques leading edge 8: Auxiliary shaf cluch conrol reques railing edge [Pr.423] Auxiliary shaf cluch reference address seing Se he reference address for he cluch. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Auxiliary shaf curren value 1: Curren value per cycle afer auxiliary shaf gear n [Pr.424] Auxiliary shaf cluch ON address Se he cluch ON address for address mode. (This seing is invalid excep during address mode.) If he address is ou of he range from 0 o (Cam axis lengh per cycle - 1), he address is convered o a value wihin range. Fech cycle: Operaion cycle Se in decimal o [Auxiliary shaf posiion unis *1, or cam axis cycle unis *2 ] n n [Pr.425] Movemen amoun before auxiliary shaf cluch ON Se he movemen amoun beween he cluch ON condiion compleing and he cluch closing. Se a posiive value when he reference address is increasing, and a negaive value when i is decreasing. Fech cycle: A compleing cluch ON condiion Se in decimal o [Auxiliary shaf posiion unis *1, or cam axis cycle unis *2 ] n n [Pr.426] Auxiliary shaf cluch OFF address Se he cluch OFF address for he address mode. (This seing is invalid excep during address mode.) If he address is ou of he range from 0 o (Cam axis lengh per cycle - 1), he seing address is convered o a value wihin range. Fech cycle: Operaion cycle Se in decimal o [Auxiliary shaf posiion unis *1, or cam axis cycle unis *2 ] n n [Pr.427] Movemen amoun before auxiliary shaf cluch OFF Se he movemen amoun beween he cluch OFF condiion compleing and he cluch opening. Se a posiive value when he reference address is increasing, and a negaive value when i is decreasing. Fech cycle: A compleing cluch OFF condiion Se in decimal o [Auxiliary shaf posiion unis *1, or cam axis cycle unis *2 ] n n [Pr.428] Auxiliary shaf cluch smoohing mehod Se he cluch smoohing mehod. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Direc 1: Time consan mehod (Exponen) 2: Time consan mehod (Linear) 3: Slippage mehod (Exponen) 4: Slippage mehod (Linear) 5: Slippage mehod (Linear: Inpu value follow up) n 88 4 ADVANCED SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module

91 Seing iem Seing deails Seing value Defaul value [Pr.429] Auxiliary shaf cluch smoohing ime consan [Pr.430] Slippage amoun a auxiliary shaf cluch ON [Pr.431] Slippage amoun a auxiliary shaf cluch OFF For smoohing wih a ime consan mehod, se he smoohing ime consan. Fech cycle: A sar of synchronous conrol For smoohing wih a slippage mehod, se he slippage amoun a cluch ON. Fech cycle: A urning cluch ON. For smoohing wih a slippage mehod, se he slippage amoun a cluch OFF. Fech cycle: A urning cluch OFF. *1 Auxiliary shaf posiion unis ( Page 24 INPUT AXIS MODULE) *2 Cam axis cycle unis ( Page 110 Unis for he oupu axis) For labels, refer o he following. Page 153 Synchronous parameers: Auxiliary shaf Se in decimal. 0 o 5000 [ms] Se in decimal. 0 o [Auxiliary shaf posiion unis *1, or cam axis cycle unis *2 ] Se in decimal. 0 o [Auxiliary shaf posiion unis *1, or cam axis cycle unis *2 ] Buffer memory address n n n n n 4 [Pr.422] Auxiliary shaf cluch conrol seing Se he ON and OFF conrol mehods separaely for he auxiliary shaf. The cluch conrol seing can be changed during synchronous conrol, however he seing o "No cluch" (Direc coupled operaion) canno be seleced during synchronous conrol afer already selecing anoher seing. Refer o he following for operaion deails on he cluch conrol. Page 94 Conrol mehod for cluch ON conrol mode Seing value 0: No cluch (Direc coupled operaion) Deails Execue direc coupled operaion wihou cluch conrol. 1: Cluch command ON/OFF The cluch is urned ON/OFF by he operaion of "[Cd.403] Auxiliary shaf cluch command" ON/OFF. (Seing in he OFF conrol mode are no applicable in his mode.) 2: Cluch command leading edge The cluch is urned ON when "[Cd.403] Auxiliary shaf cluch command" passes he leading edge (from OFF o ON). 3: Cluch command railing edge The cluch is urned ON when "[Cd.403] Auxiliary shaf cluch command" passes he railing edge (from ON o OFF). 4: Address mode The cluch is urned ON when he reference address (he auxiliary shaf curren value or he curren value per cycle afer auxiliary shaf gear) reaches "[Pr.424] Auxiliary shaf cluch ON address". The movemen amoun afer passing hrough he ON address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. 6: Auxiliary shaf cluch conrol reques ON/OFF 7: Auxiliary shaf cluch conrol reques leading edge 8: Auxiliary shaf cluch conrol reques railing edge The cluch is urned ON/OFF by ON/OFF operaion of he link device assigned o he auxiliary shaf cluch conrol reques by he link device exernal signal assignmen funcion. (Seing in he OFF conrol mode are no applicable in his mode.) The cluch is urned ON when he link device assigned o he auxiliary shaf cluch conrol reques by he link device exernal signal assignmen funcion passes he leading edge (from OFF o ON). The cluch is urned ON when he link device assigned o he auxiliary shaf cluch conrol reques by he link device exernal signal assignmen funcion passes he railing edge (from ON o OFF). Oher cluch parameers are no applicable during direc coupled operaion by seing "0: No cluch". "[Cd.405] Auxiliary shaf cluch forced OFF command" and he change of he cluch conrol seing are ignored during direc coupled operaion. 4 ADVANCED SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module 89

92 OFF conrol mode Seing value Deails 0: OFF conrol invalid Cluch OFF conrol is no used. This seing is applicable only for execuion wih cluch ON conrol. 1: One-sho OFF The cluch is urned OFF afer moving he disance "[Pr.427] Movemen amoun before auxiliary shaf cluch OFF" (Onesho operaion) afer he cluch command urns ON. If "[Pr.427] Movemen amoun before auxiliary shaf cluch OFF" is 0, "[Md.423] Auxiliary shaf cluch ON/OFF saus" does no urn ON in order o urn back OFF immediaely. 2: Cluch command leading edge The cluch is urned OFF when "[Cd.403] Auxiliary shaf cluch command" passes he leading edge (from OFF o ON). 3: Cluch command railing edge The cluch is urned OFF when "[Cd.403] Auxiliary shaf cluch command" passes he railing edge (from ON o OFF) 4: Address mode The cluch is urned OFF when he reference address (he auxiliary shaf curren value or he curren value per cycle afer auxiliary shaf gear) reaches "[Pr.426] Auxiliary shaf cluch OFF address". The movemen amoun before passing hrough he OFF address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. 7: Auxiliary shaf cluch conrol reques leading edge 8: Auxiliary shaf cluch conrol reques railing edge The cluch is urned OFF when he link device assigned o he auxiliary shaf cluch conrol reques by he link device exernal signal assignmen funcion passes he leading edge (from OFF o ON). The cluch is urned OFF when he link device assigned o he auxiliary shaf cluch conrol reques by he link device exernal signal assignmen funcion passes he railing edge (from ON o OFF). [Pr.423] Auxiliary shaf cluch reference address seing Selec he address ype o be used as he reference address for cluch conrol. Noe ha he processing order of he auxiliary shaf gear and he auxiliary shaf cluch will change depending on he reference address seing. Seing value Deails 0: Auxiliary shaf curren value The cluch is conrolled by using he curren value for he servo inpu axis/synchronous encoder axis ha is se for he auxiliary shaf. Oupu afer he cluch is a convered movemen amoun hrough he auxiliary shaf gear. 1: Curren value per cycle afer auxiliary shaf gear The seing values for he following parameers are in unis based on he reference address seing. "[Pr.424] Auxiliary shaf cluch ON address" "[Pr.426] Auxiliary shaf cluch OFF address" "[Pr.425] Movemen amoun before auxiliary shaf cluch ON", "[Pr.427] Movemen amoun before auxiliary shaf cluch OFF" "[Pr.430] Slippage amoun a auxiliary shaf cluch ON", "[Pr.431] Slippage amoun a auxiliary shaf cluch OFF" [Pr.424] Auxiliary shaf cluch ON address The cluch is conrolled by using he curren value per cycle afer auxiliary shaf gear. Oupu afer he cluch is a movemen amoun wihou conversion. Se he cluch ON address when address mode is configured for he ON conrol mode of he auxiliary shaf cluch. When he reference address is he curren value per cycle afer auxiliary shaf gear, he seing address is convered for conrol wihin he range from 0 o (Cam axis lengh per cycle - 1). Ex. Cam axis lengh per cycle: pulses The ON address is conrolled as pulses when he seing value is "-1000" ADVANCED SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module

93 [Pr.425] Movemen amoun before auxiliary shaf cluch ON Se he movemen amoun of he reference address wih a signed value beween he cluch ON condiion compleing and he cluch closing. Seing value Deails 1 o (Posiive value) Used when he reference address is increasing in direcion. 0 No movemen amoun (The cluch is immediaely urned ON wih he cluch ON condiion compleing.) o -1 (Negaive value) Used when he reference address is decreasing in direcion. Cluch ON condiion is compleed (Example: [Cd.403] Auxiliary shaf cluch command ON) [Md.423] Auxiliary shaf cluch ON/OFF saus Auxiliary shaf curren value or [Md.402] Curren value per cycle afer auxiliary shaf gear [Pr.425] Movemen amoun before auxiliary shaf cluch ON (Posiive value) 4 Movemen amoun afer cluch [Pr.426] Auxiliary shaf cluch OFF address Se he cluch OFF address when address mode is configured for he OFF conrol mode of he auxiliary shaf cluch. When he reference address is he curren value per cycle afer auxiliary shaf gear, he seing address is convered for conrol wihin he range from 0 o (Cam axis lengh per cycle - 1). Ex. Cam axis lengh per cycle: pulses The OFF address is conrolled as 60 pulses when he seing value is "40060". [Pr.427] Movemen amoun before auxiliary shaf cluch OFF Se he movemen amoun of he reference address wih a signed value beween he cluch OFF condiion compleing and he cluch opening. Seing value Deails 1 o (Posiive value) Used when he reference address is increasing in direcion. 0 No movemen amoun (The cluch is immediaely urned OFF wih he cluch OFF condiion compleing.) o -1 (Negaive value) Used when he reference address is decreasing in direcion. Cluch OFF condiion is compleed (Example: [Cd.403] Auxiliary shaf cluch command OFF) [Md.423] Auxiliary shaf cluch ON/OFF saus [Pr.427] Movemen amoun before auxiliary shaf cluch OFF (Posiive value) Auxiliary shaf curren value or [Md.402] Curren value per cycle afer auxiliary shaf gear Movemen amoun afer cluch 4 ADVANCED SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module 91

94 [Pr.428] Auxiliary shaf cluch smoohing mehod Se he smoohing mehod for cluch ON/OFF. Refer o he following. Page 101 Smoohing mehod for cluch Seing value Deails 0: Direc No smoohing. 1: Time consan mehod (Exponen) Smoohing wih an exponenial curve based on he ime consan seing. 2: Time consan mehod (Linear) Smoohing wih linear acceleraion/deceleraion based on he ime consan seing. 3: Slippage mehod (Exponen) Smoohing wih an exponenial curve based on he slippage amoun seing. 4: Slippage mehod (Linear) Smoohing wih linear acceleraion/deceleraion based on he slippage amoun seing. 5: Slippage mehod (Linear: Inpu Smoohing wih linear acceleraion/deceleraion based on he slippage amoun seing (inpu value follow up). value follow up) [Pr.429] Auxiliary shaf cluch smoohing ime consan Se a ime consan when he ime consan mehod is se in "[Pr.428] Auxiliary shaf cluch smoohing mehod". The ime consan seing applies for cluch ON/OFF. [Pr.430] Slippage amoun a auxiliary shaf cluch ON Se he slippage amoun a cluch ON when he slippage mehod is se in "[Pr.428] Auxiliary shaf cluch smoohing mehod". The slippage amoun is se in unis based on he curren value seleced in "[Pr.423] Auxiliary shaf cluch reference address seing". If he se amoun is negaive, he slippage amoun a cluch ON is conrolled as 0 (direc). [Pr.431] Slippage amoun a auxiliary shaf cluch OFF Se he slippage amoun a cluch OFF when he slippage mehod is se in "[Pr.428] Auxiliary shaf cluch smoohing mehod". The slippage amoun is se in unis based on he curren value seleced in "[Pr.423] Auxiliary shaf cluch reference address seing". If he se amoun is negaive, he slippage amoun a cluch OFF is conrolled as 0 (direc) ADVANCED SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module

95 Auxiliary shaf cluch conrol daa n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.403] Auxiliary shaf cluch command Se he cluch command ON/OFF. Fech cycle: Operaion cycle Se in decimal. 0: Auxiliary shaf cluch command OFF 1: Auxiliary shaf cluch command ON n [Cd.404] Auxiliary shaf cluch conrol invalid command Se "1" o disable he cluch conrol emporarily. Fech cycle: Operaion cycle Se in decimal. 0: Auxiliary shaf cluch conrol valid 1: Auxiliary shaf cluch conrol invalid n 4 [Cd.405] Auxiliary shaf cluch forced OFF command Se "1" o force he cluch OFF. Fech cycle: Operaion cycle Se in decimal. 0: Auxiliary shaf cluch normal conrol 1: Auxiliary shaf cluch forced OFF n For labels, refer o he following. Page 157 Conrol daa for synchronous conrol [Cd.403] Auxiliary shaf cluch command Se ON/OFF for he auxiliary shaf cluch command. This command is used when he cluch ON conrol mode is "1: Cluch command ON/OFF", "2: Cluch command leading edge" or "3: Cluch command railing edge" and he cluch OFF conrol mode is "2: Cluch command leading edge" or "3: Cluch command railing edge". Saus is considered as cluch command OFF jus before saring synchronous conrol. If synchronous conrol is sared while he cluch command is ON, he condiion is esablished jus afer saring synchronous conrol, by seing "2: Cluch command leading edge". The condiion is no esablished afer saring, by seing "3: Cluch command railing edge." [Cd.404] Auxiliary shaf cluch conrol invalid command The auxiliary shaf cluch conrol is invalid if "1" is se. The previous cluch ON/OFF saus remains before cluch conrol becomes invalid. Cluch conrol will no become invalid during he movemen before cluch ON and cluch OFF. Insead, cluch conrol will become invalid afer he movemen is compleed. [Cd.405] Auxiliary shaf cluch forced OFF command Se "1" o force he cluch OFF. The oupu value from he cluch becomes 0 immediaely, even during cluch smoohing. The slippage (accumulaive) amoun is se o 0 if smoohing wih a slippage mehod. Rese o "0" o resar he cluch conrol from he cluch OFF saus afer using he cluch forced OFF command. 4 ADVANCED SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module 93

96 4.3 Cluch Overview of cluch The cluch is used o ransmi/disengage command pulses from he main/auxiliary shaf inpu side o he oupu axis module hrough urning he cluch ON/OFF, which conrols he operaion/sop of he servomoor. A cluch can be configured for he main and auxiliary shafs. Conrol mehod for cluch Se he ON and OFF conrol mehods separaely in "[Pr.405] Main shaf cluch conrol seing" and "[Pr.422] Auxiliary shaf cluch conrol seing". The cluch conrol seing can be changed during synchronous conrol, however, he seing "No cluch" (Direc coupled operaion) canno be seleced during synchronous conrol afer already selecing anoher seing. Iem Seing iem Seing deails/seing value Main shaf cluch Auxiliary shaf cluch Cluch conrol seing [Pr.405] Main shaf cluch conrol seing [Pr.422] Auxiliary shaf cluch conrol seing Se he cluch conrol mehod. Se in hexadecimal. H ON conrol mode 0: No cluch 1: Cluch command ON/OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 6: Main/auxiliary shaf cluch conrol reques ON/OFF 7: Main/auxiliary shaf cluch conrol reques leading edge 8: Main/auxiliary shaf cluch conrol reques railing edge OFF conrol mode 0: OFF conrol invalid 1: One-sho OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 7: Main/auxiliary shaf cluch conrol reques leading edge 8: Main/auxiliary shaf cluch conrol reques railing edge When he cluch ON condiion and he cluch OFF condiion are compleed simulaneously wihin one operaion cycle, boh cluch ON and OFF processing are execued wihin one operaion cycle. Therefore, he cluch is from OFF o ON and again o OFF a he cluch OFF saus, and i is from ON o OFF and again o ON a he cluch ON saus. The following shows he operaions for he cluch ON/OFF by he seing of he ON conrol mode and he OFF conrol mode ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch

97 ON conrol mode No cluch (Direc coupled operaion) Execue direc coupled operaion wihou cluch conrol. Oher cluch parameers are no applicable during direc coupled operaion by seing "0: No cluch". "Cluch forced OFF command" and he change of he cluch conrol seing are ignored during direc coupled operaion. Cluch command ON/OFF The cluch is urned ON/OFF by he operaion of cluch command ON/OFF. (Seing in he OFF conrol mode are no applicable in his mode.) 4 Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch Iem Main shaf cluch Auxiliary shaf cluch Cluch command [Cd.400] Main shaf cluch command [Cd.403] Auxiliary shaf cluch command Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Cluch command leading edge The cluch is urned ON when he cluch command passes he leading edge (from OFF o ON). Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch Cluch command railing edge The cluch is urned ON when he cluch command passes he railing edge (from ON o OFF). Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch 4 ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch 95

98 Address mode The cluch is urned ON when he reference address reaches "Cluch ON address". The movemen amoun afer passing hrough he ON address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. Cluch ON/OFF saus Curren value specified in cluch reference address seing Cluch ON address Movemen amoun afer cluch Iem Main shaf cluch Auxiliary shaf cluch Reference address The curren value specified in "[Pr.406] Main shaf cluch reference address seing" ("[Md.400] Curren value afer composie main shaf gear" or "[Md.401] Curren value per cycle afer main shaf gear") The curren value specified in "[Pr.423] Auxiliary shaf cluch reference address seing" (Auxiliary shaf curren value (servo inpu axis curren value/synchronous encoder axis curren value) or "[Md.402] Curren value per cycle afer auxiliary shaf gear") Cluch ON address [Pr.407] Main shaf cluch ON address [Pr.424] Auxiliary shaf cluch ON address Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Main shaf cluch conrol reques ON/OFF The cluch is urned ON/OFF by ON/OFF operaion of he link device assigned o he "Main shaf cluch conrol reques". (Seing in he OFF conrol mode are no applicable in his mode.) The cluch is urned OFF when a communicaion error occurs in he saion of he assigned link device. The following acions are required when using he main shaf cluch conrol reques. Assign he link device o he main shaf cluch conrol reques wih he link device exernal signal assignmen funcion. Se "1: Validaes an exernal command" in "[Cd.8] Exernal command valid". Iem Main shaf cluch Auxiliary shaf cluch Cluch command Link device assigned o he main shaf cluch conrol reques wih he link device exernal signal assignmen funcion Link device assigned o he auxiliary shaf cluch conrol reques wih he link device exernal signal assignmen funcion Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Main shaf cluch conrol reques Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch 96 4 ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch

99 Main shaf cluch conrol reques leading edge The cluch is urned ON when he link device assigned o he "Main shaf cluch conrol reques" passes he leading edge (from OFF o ON). The cluch is urned OFF when a communicaion error occurs in he saion of he assigned link device. The following acions are required when using he main shaf cluch conrol reques. Assign he link device o he main shaf cluch conrol reques wih he link device exernal signal assignmen funcion. Se "1: Validaes an exernal command" in "[Cd.8] Exernal command valid". Main shaf cluch conrol reques Cluch ON/OFF saus Curren value before cluch 4 Movemen amoun afer cluch Main shaf cluch conrol reques railing edge The cluch is urned ON when he link device assigned o he "Main shaf cluch conrol reques" passes he railing edge (from ON o OFF). The cluch is urned OFF when a communicaion error occurs in he saion of he assigned link device. The following acions are required when using he main shaf cluch conrol reques. Assign he link device o he main shaf cluch conrol reques wih he link device exernal signal assignmen funcion. Se "1: Validaes an exernal command" in "[Cd.8] Exernal command valid". Main shaf cluch conrol reques Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch 4 ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch 97

100 OFF conrol mode OFF conrol invalid Cluch OFF conrol is no used. This seing is applicable only for execuion wih cluch ON conrol. One-sho OFF The cluch is urned OFF afer moving he disance "Movemen amoun before cluch OFF" (One-sho operaion) afer he cluch command urn ON. If "Movemen amoun before cluch OFF" is 0, "Cluch ON/OFF saus" does no urn ON in order o urn back OFF immediaely. Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch Movemen amoun before cluch OFF Iem Main shaf cluch Auxiliary shaf cluch Cluch command [Cd.400] Main shaf cluch command [Cd.403] Auxiliary shaf cluch command Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Movemen amoun before cluch OFF [Pr.410] Movemen amoun before main shaf cluch OFF Cluch command leading edge The cluch is urned OFF when he cluch command passes he leading edge (from OFF o ON). Cluch command [Pr.427] Movemen amoun before auxiliary shaf cluch OFF Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch Cluch command railing edge The cluch is urned OFF when he cluch command passes he railing edge (from ON o OFF). Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch 98 4 ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch

101 Address mode The cluch is urned OFF when he reference address reaches "Cluch OFF address". The movemen amoun before passing hrough he OFF address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. Cluch ON/OFF saus Curren value specified in cluch reference address seing Cluch OFF address Movemen amoun afer cluch Iem Main shaf cluch Auxiliary shaf cluch Reference address The curren value specified in "[Pr.406] Main shaf cluch reference address seing" ("[Md.400] Curren value afer composie main shaf gear" or "[Md.401] Curren value per cycle afer main shaf gear") The curren value specified in "[Pr.423] Auxiliary shaf cluch reference address seing" (Auxiliary shaf curren value (servo inpu axis curren value/synchronous encoder axis curren value) or "[Md.402] Curren value per cycle afer auxiliary shaf gear") Cluch OFF address [Pr.409] Main shaf cluch OFF address [Pr.426] Auxiliary shaf cluch OFF address Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Auxiliary shaf cluch conrol reques leading edge The cluch is urned ON when he link device assigned o he "Auxiliary shaf cluch conrol reques" passes he leading edge (from OFF o ON). The cluch is urned OFF when a communicaion error occurs in he saion of he assigned link device. The following acions are required when using he auxiliary shaf cluch conrol reques. Assign he link device o he auxiliary shaf cluch conrol reques wih he link device exernal signal assignmen funcion. Se "1: Validaes an exernal command" in "[Cd.8] Exernal command valid". 4 Auxiliary shaf cluch conrol reques Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch 4 ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch 99

102 Auxiliary shaf cluch conrol reques railing edge The cluch is urned ON when he link device assigned o he "Auxiliary shaf cluch conrol reques" passes he railing edge (from ON o OFF). The cluch is urned OFF when a communicaion error occurs in he saion of he assigned link device. The following acions are required when using he auxiliary shaf cluch conrol reques. Assign he link device o he auxiliary shaf cluch conrol reques wih he link device exernal signal assignmen funcion. Se "1: Validaes an exernal command" in "[Cd.8] Exernal command valid". Auxiliary shaf cluch conrol reques Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch

103 Smoohing mehod for cluch Se he cluch smoohing mehod in "[Pr.411] Main shaf cluch smoohing mehod" and "[Pr.428] Auxiliary shaf cluch smoohing mehod". The 2 ypes of cluch smoohing include he following. Time consan mehod smoohing Slippage mehod smoohing When no using cluch smoohing, se "0: Direc" in he cluch smoohing mehod. Iem Seing iem Seing deails/seing value Main shaf cluch Auxiliary shaf cluch Cluch smoohing mehod [Pr.411] Main shaf cluch smoohing mehod [Pr.428] Auxiliary shaf cluch smoohing mehod Se he cluch smoohing mehod. Se in decimal. 0: Direc 1: Time consan mehod (Exponen) 2: Time consan mehod (Linear) 3: Slippage mehod (Exponen) 4: Slippage mehod (Linear) 5: Slippage mehod (Linear: Inpu value follow up) 4 The operaion of each smoohing mehod is shown below. Time consan mehod smoohing Smoohing is processed wih he ime consan seing value in he smoohing ime consan a cluch ON/OFF. Afer cluch ON smoohing is complee, smoohing is processed wih he ime consan seing value when he speed of he inpu values changes. The movemen amoun beween he cluch urning ON and OFF is no changed wih smoohing. Movemen amoun afer cluch smoohing = Movemen amoun before cluch smoohing Iem Seing iem Seing deails Seing value Cluch smoohing ime consan Main shaf cluch [Pr.412] Main shaf cluch smoohing ime consan Auxiliary shaf cluch [Pr.429] Auxiliary shaf cluch smoohing ime consan Time consan mehod exponenial curve smoohing Se "1: Time consan mehod (Exponenial)" in he cluch smoohing mehod. Cluch ON/OFF saus Cluch smoohing saus For smoohing wih a ime consan mehod, se he smoohing ime consan. Se in decimal. 0 o 5000 [ms] Speed before cluch processing Speed afer cluch smoohing 63% 63% Cluch smoohing ime consan Iem Main shaf cluch Auxiliary shaf cluch Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Cluch smoohing saus [Md.421] Main shaf cluch smoohing saus [Md.424] Auxiliary shaf cluch smoohing saus 4 ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch 101

104 Time consan mehod linear acceleraion/deceleraion smoohing Se "2: Time consan mehod (Linear)" in he cluch smoohing mehod. Cluch ON/OFF saus Cluch smoohing saus Speed before cluch processing Speed afer cluch smoohing Cluch smoohing ime consan Slippage mehod smoohing Smoohing is processed wih he value in slippage a cluch ON when he cluch urns ON, and wih slippage a cluch OFF when he cluch urns OFF. Smoohing is also processed wih he slippage amoun seing when he inpu speed o he cluch changes, herefore, posiioning conrol a cluch ON/OFF is no affeced by speed changes. Processing proceeds wih direc operaion afer compleing cluch ON smoohing. The movemen amoun beween he cluch urning ON and OFF is as follows afer cluch smoohing. Movemen amoun afer cluch smoohing = Movemen amoun before cluch smoohing + (Slippage amoun a OFF - Slippage amoun a ON) Iem Seing iem Seing deails Seing value Main shaf cluch Auxiliary shaf cluch Slippage amoun a cluch ON Slippage amoun a cluch OFF [Pr.413] Slippage amoun a main shaf cluch ON [Pr.414] Slippage amoun a main shaf cluch OFF [Pr.430] Slippage amoun a auxiliary shaf cluch ON [Pr.431] Slippage amoun a auxiliary shaf cluch OFF *1 Main inpu axis posiion unis ( Page 24 INPUT AXIS MODULE) *2 Auxiliary shaf posiion unis ( Page 24 INPUT AXIS MODULE) *3 Cam axis cycle unis ( Page 110 Unis for he oupu axis) Slippage mehod exponenial curve smoohing Se "3: Slippage (Exponenial)" in he cluch smoohing mehod. Cluch ON/OFF saus Cluch smoohing saus For smoohing wih a slippage mehod, se he slippage amoun a cluch ON. For smoohing wih a slippage mehod, se he slippage amoun a cluch OFF. Se in decimal. 0 o [Main inpu axis posiion unis *1 / auxiliary shaf posiion unis *2 or cam axis cycle unis *3 ] Speed before cluch processing Speed afer cluch smoohing Slippage amoun a cluch ON Slippage amoun a cluch OFF Iem Main shaf cluch Auxiliary shaf cluch Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Cluch smoohing saus [Md.421] Main shaf cluch smoohing saus [Md.424] Auxiliary shaf cluch smoohing saus ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch

105 Slippage mehod linear acceleraion/deceleraion smoohing Se "4: Slippage mehod (Linear)" or "5: Slippage mehod (Linear: Inpu value follow up)" in he cluch smoohing mehod. The differences beween "4: Slippage mehod (Linear)" and "5: Slippage mehod (Linear: Inpu value follow up)" are shown below. Inpu speed during smoohing Smoohing mehod 4: Slippage mehod (Linear) 5: Slippage mehod (Linear: Inpu value follow up) When he speed is fixed When he speed is changed coninuously and slighly No differences Smoohing secion is changed. Smoohing secion is fixed. When he speed is changed largely The oupu speed is changed slighly. (The average speed migh be faser han he speed before saring smoohing.) The oupu speed is changed depending on he inpu speed. (When he inpu speed is deceleraed and acceleraed again, he speed migh be acceleraed rapidly.) When he inpu speed o he cluch is fixed The operaions of "4: Slippage mehod (Linear)" and "5: Slippage mehod (Linear: Inpu value follow up)" are same. 4 Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON Speed before cluch processing Speed afer cluch smoohing Slippage amoun a cluch ON Slippage amoun a cluch OFF When he inpu speed o he cluch is changed coninuously and slighly ["4: Slippage mehod (Linear)" is se.] The cluch smoohing saus ON secion is changed. When he cluch smoohing saus ON secion is exended ON Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON secion is exended. Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF Clamped a low speed 4 ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch 103

106 When he cluch smoohing saus ON secion is shorened Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON ON secion is shorened. Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF Clamped a high speed ["5: Slippage mehod (Linear: Inpu value follow up)" is se.] The cluch smoohing saus ON secion is fixed. Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON ON secion is fixed. Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF When he inpu speed is changed largely during smoohing ["4: Slippage mehod (Linear)" is se.] The oupu speed is changed slighly compared o he change of he inpu speed. (The average speed migh be faser han he speed before saring smoohing.) Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON The speed changes slighly. Slippage amoun a cluch OFF ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch

107 ["5: Slippage mehod (Linear: Inpu value follow up)" is se.] The oupu speed is changed depending on he inpu speed. (When he inpu speed is deceleraed and acceleraed again, he speed migh be acceleraed rapidly.) Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF The speed changes depending on he inpu speed. Operaion a inpu speed deceleraion during slippage mehod smoohing When he speed before cluch processing decreases, he speed afer cluch smoohing is conrolled wihou exceeding he speed before cluch processing. If slippage amoun remains when he speed before cluch processing becomes 0, he smoohing process will be coninued. Then, he cluch smoohing process will be execued wih he remaining slippage amoun when he speed before cluch processing ges faser han he speed afer cluch smoohing. 4 Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON Speed before cluch processing Speed afer cluch smoohing Slippage amoun a cluch ON Slippage amoun a cluch OFF Deceleraion wihou exceeding he speed before cluch processing. Cluch smoohing is execued wih he remaining slippage amoun a cluch OFF since he speed before cluch processing ges faser. 4 ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch 105

108 Use example of cluch The following machine shows an example using cluch conrol for a flying shear cuing sysem ha synchronizes off a sar signal from a sensor inpu. Sensor inpu (Main shaf cluch conrol reques leading edge [DI]) Main shaf gear 100 mm (3.94 inch) Synchronous encoder Waiing posiion Sensor posiion M Oupu axis Main shaf main inpu axis (Synchronous encoder axis) Oupu axis (Linear cam) Main shaf cluch Main shaf cluch seing iem Seing value [Pr.405] ON conrol mode 7: Mainshaf cluch conrol reques leading edge Main shaf cluch conrol seing OFF conrol mode 1: One-sho OFF [Pr.406] Main shaf cluch reference address seing 0: Curren value afer composie main shaf gear [Pr.408] Movemen amoun before main shaf cluch ON 0 mm [Pr.410] Movemen amoun before main shaf cluch OFF 380 mm (14.96 inch) [Pr.411] Main shaf cluch smoohing mehod 4: Slippage mehod (Linear) [Pr.413] Slippage amoun a main shaf cluch ON 100 mm (3.94 inch) (Disance beween he sensor and he waiing posiion) [Pr.414] Slippage amoun a main shaf cluch OFF 20 mm (0.79 inch) Synchronous encoder axis and oupu axis in synchronizaion Main shaf cluch conrol reques leading edge [DI] Cluch smoohing saus Cluch ON/OFF saus Synchronous encoder axis speed Oupu axis speed Cuing...Afer cluch smoohing All movemen amoun of oupu axis mm + (20 mm mm) = 300 mm (14.96 inch + (0.79 inch inch) = inch) Slippage amoun a cluch ON...Disance beween he sensor and Slippage amoun a cluch OFF...Se as 20 mm (0.79 inch) he waiing posiion (100 mm (3.94 inch)) o sop early. Complee synchronous conrol and reurn o he waiing posiion by posiioning conrol. (I can be reurned by auxiliary shaf wihou changing synchronous conrol.) ADVANCED SYNCHRONOUS CONTROL 4.3 Cluch

109 4.4 Speed Change Gear Module Overview of speed change gear module A speed change gear module is used o change he inpu speed from he main shaf/auxiliary shaf/composie auxiliary shaf gear during operaion. When no using a speed change gear module, se "0: No speed change gear" in "[Pr.434] Speed change gear". Wih speed change from a speed change gear module, operaion is execued wih linear acceleraion/deceleraion based on he seing for he speed change gear smoohing ime consan. Inpu value [Arrangemen he speed change gear] Arranged on one of "Main shaf side", "Auxiliary shaf side" or "Afer composie auxiliary shaf gear". Main shaf cluch 4 [Pr.434] Speed change gear [Pr.435] Speed change gear smoohing ime consan [Pr.436] Speed change raio: Numeraor [Pr.437] Speed change raio: Denominaor Speed change gear Auxiliary shaf cluch Speed change gear Speed change gear Composie auxiliary shaf gear Speed change gear Oupu value Oupu axis Cam Inpu value speed before speed change [Pr.436] Speed change raio: Numeraor [Pr.437] Speed change raio: Denominaor Inpu value speed before speed change [Pr.435] Speed change gear smoohing ime consan [Pr.435] Speed change gear smoohing ime consan 4 ADVANCED SYNCHRONOUS CONTROL 4.4 Speed Change Gear Module 107

110 Speed change gear parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.434] Speed change gear Se he arrangemen for he speed change gear. Fech cycle: A sar of synchronous conrol Se in decimal. 0: No speed change gear 1: Main shaf side 2: Auxiliary shaf side 3: Afer composie auxiliary shaf gear n [Pr.435] Speed change gear smoohing ime consan Se he smoohing ime consan for he speed change gear. Fech cycle: A sar of synchronous conrol Se in decimal. 0 o 5000 [ms] n [Pr.436] Speed change raio: Numeraor Se he numeraor for he speed change raio. Fech cycle: Operaion cycle Se in decimal o n n [Pr.437] Speed change raio: Denominaor Se he denominaor for he speed change raio. Fech cycle: Operaion cycle Se in decimal. 1 o n n For labels, refer o he following. Page 153 Synchronous parameers: Speed change gear [Pr.434] Speed change gear Se he arrangemen for he speed change gear. Seing value Deails 0: No speed change gear Speed change is no processed, and he inpu value is ransmied as is. 1: Main shaf side Speed change is processed for inpu value afer main shaf cluch based on he speed change raio seings. 2: Auxiliary shaf side Speed change is processed for inpu value afer auxiliary shaf cluch based on he speed change raio seings. 3: Afer composie auxiliary shaf gear Speed change is processed for inpu value afer composie auxiliary shaf gear based on he speed change raio seings. [Pr.435] Speed change gear smoohing ime consan Se he averaging ime o execue a smoohing process for he speed change for he speed change gear. The inpu response is delayed depending on he ime se in he speed change gear smoohing ime consan. Speed is changed direcly when "0" is se. [Pr.436] Speed change raio: Numeraor, [Pr.437] Speed change raio: Denominaor Se he numeraor and he denominaor for he speed change raio. "[Pr.436] Speed change raio: Numeraor" and "[Pr.437] Speed change raio: Denominaor" can be changed during synchronous conrol. Inpu values for speed change are processed as follows. [Pr.436] Speed change raio: Numeraor Inpu value afer change = Inpu value before change X [Pr.437] Speed change raio: Denominaor The inpu speed can be reversed by seing a negaive value in " [Pr.436] Speed change raio: Numeraor". "[Pr.437] Speed change raio: Denominaor" is se wihin he range from 1 o ADVANCED SYNCHRONOUS CONTROL 4.4 Speed Change Gear Module

111 4.5 Oupu Axis Module Overview of oupu axis module For he oupu axis module, he cam axis curren value per cycle is calculaed based on he inpu value (he oupu value from a speed change gear), and is convered based on he se cam daa. The feed curren value which is a command is oupu o he servo amplifier. Inpu value [Pr.438] Cam axis cycle uni seing (No influence on conrol) [Pr.446] Synchronous conrol deceleraion ime (Use only a deceleraion sop) 4 [Pr.444] Cam axis phase compensaion advance ime [Pr.445] Cam axis phase compensaion ime consan [Pr.439] Cam axis lengh per cycle [Pr.440] Cam No. [Pr.441] Cam sroke amoun Cam daa [Pr.447] Oupu axis smoohing ime consan Cam axis phase compensaion processing Cam conversion processing Oupu axis smoohing processing [Md.406] Cam axis phase compensaion amoun [Md.410] Execue cam No. [Md.411] Execue cam sroke amoun [Md.407] Cam axis curren value per cycle [Md.408] Cam reference posiion [Md.409] Cam axis feed curren value [Md.20] Feed curren value 4 ADVANCED SYNCHRONOUS CONTROL 4.5 Oupu Axis Module 109

112 Unis for he oupu axis The posiion unis for he oupu axis are shown below based on he seing "[Pr.1] Uni seing". Seing value of "[Pr.1] Uni seing" Oupu axis posiion uni Range 0: mm 10-4 mm ( 10-1 m) Cam axis cycle unis are shown below based on he seing "[Pr.438] Cam axis cycle uni seing" o [mm] ( o [ m]) 1: inch 10-5 inch o [inch] 2: degree 10-5 degree o [degree] 3: pulse pulse o [pulse] Seing value of "[Pr.438] Cam axis cycle uni seing" Uni seing selecion 0: Use unis of main inpu axis Conrol uni Number of decimal places Cam axis cycle uni Range Servo inpu axis posiion uni ( Page 25 Servo inpu axis posiion unis) Synchronous encoder axis posiion uni ( Page 32 Synchronous encoder axis posiion unis) 1: Use unis of his seing 0: mm 0 mm o [mm] mm o [mm] 1: inch 0 inch o [inch] inch o [inch] 2: degree 0 degree o [degree] degree o [degree] 3: pulse 0 pulse o [pulse] pulse o [pulse] ADVANCED SYNCHRONOUS CONTROL 4.5 Oupu Axis Module

113 Oupu axis parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.438] Cam axis cycle uni seing Se he unis for he cam axis lengh per cycle. There is no influence on he conrol for he parameer for monior display. Fech cycle: A sar of synchronous conrol Buffer memory address Se in hexadecimal. 0000H n H Conrol uni 0: mm, 1: inch, 2: degree, 3: pulse Number of decimal places 0 o 9 Uni seing selecion 0: Use unis of main inpu axis 1: Use unis of his seing 4 [Pr.439] Cam axis lengh per cycle [Pr.440] Cam No. [Pr.441] Cam sroke amoun [Pr.442] Cam axis lengh per cycle change seing [Pr.444] Cam axis phase compensaion advance ime [Pr.445] Cam axis phase compensaion ime consan [Pr.446] Synchronous conrol deceleraion ime [Pr.447] Oupu axis smoohing ime consan Se he required inpu amoun wih he cam per cycle. Fech cycle: A sar of synchronous conrol, A passing hrough he 0h poin of cam daa Se he cam No. Fech cycle: A sar of synchronous conrol, A passing hrough he 0h poin of cam daa Se he cam sroke amoun corresponding o he sroke raio 100% for cam wih sroke raio daa forma. This is ignored for cams using he coordinae daa forma. Fech cycle: A sar of synchronous conrol, A passing hrough he 0h poin of cam daa Se o change he "[Pr.439] Cam axis lengh per cycle" during synchronous conrol. Fech cycle: A sar of synchronous conrol Se he ime o advance or delay he phase of he cam axis. Fech cycle: Operaion cycle Se he ime consan o affec he phase compensaion of he cam axis. Fech cycle: A sar of synchronous conrol Se he deceleraion ime for he synchronous conrol. Fech cycle: A sar of synchronous conrol Se o smooh he oupu axis. Fech cycle: A sar of synchronous conrol Se in decimal. 1 o [Cam axis cycle unis *1 ] Se in decimal. 0: Linear cam (Prese) 1 o 1024: User creaed cam Se in decimal o [Oupu axis posiion unis *2 ] Se in decimal. 0: Invalid 1: Valid Se in decimal o [ s] n n n n n n n n Se in decimal n 0 o [ms] *3 Se in decimal n 0 o [ms] *3 Se in decimal. 0 o 5000 [ms] n *1 Cam axis cycle unis ( Page 110 Unis for he oupu axis) *2 Oupu axis posiion unis ( Page 110 Unis for he oupu axis) *3 Se he value as follows in a user program. 0 o 32767: Se as a decimal o 65535: Conver ino a hexadecimal and se For labels, refer o he following. Page 154 Synchronous parameers: Oupu axis 4 ADVANCED SYNCHRONOUS CONTROL 4.5 Oupu Axis Module 111

114 [Pr.438] Cam axis cycle uni seing Se he command unis for he cam axis inpu per cycle o be used for cam conrol. These unis are used for seing he cam axis lengh per cycle and he cam axis curren value per cycle. There is no influence on he conrol for he parameer for monior display. Refer o he following. Page 109 Overview of oupu axis module [Pr.439] Cam axis lengh per cycle Se he lengh per cycle of he cam axis o generae he cam axis curren value per cycle. The uni seings are in he cam axis cycle unis ( Page 110 Unis for he oupu axis). Se a value wihin he range from 1 o The cam axis lengh per cycle can be changed during synchronous conrol by seing "1: Valid" in "[Pr.442] Cam axis lengh per cycle change seing". The value se in "[Pr.439] Cam axis lengh per cycle" is valid when he cam axis curren value per cycle passes hrough he 0h poin of cam daa, or is on he 0h poin. For cam daa using he coordinae daa forma, if he inpu value of he las coordinae is less han "[Pr.439] Cam axis lengh per cycle", he coordinae is calculaed from he line segmen beween he neares wo coordinaes from he las coordinae. The following shows an example in he case ha "[Pr.439] Cam axis lengh per cycle" is changed o exceed he inpu value of he las coordinae of cam daa using he coordinae daa forma during synchronous conrol. [Coordinae daa forma] Cam axis lengh per cycle: [pulse] Cam sroke amoun: [pulse] Coordinae daa Poin Inpu value Oupu value Cam axis lengh per cycle Execue cam axis lengh per cycle pulses pulses Cam axis curren value per cycle Cam axis feed curren value Swiching posiion Swiching posiion Swiching posiion *1 *1 The coordinae which is "an inpu value = a cam axis lengh per cycle" does no exis, so ha he coordinae is calculaed from he line segmen beween he neares wo coordinaes from he las coordinae ADVANCED SYNCHRONOUS CONTROL 4.5 Oupu Axis Module

115 [Pr.440] Cam No. Se he cam No. for cam conrol. Cam No.0 operaes as a linear cam for 100% of is sroke raio along he cam axis lengh per cycle. The cam No. can be changed during synchronous conrol. The value se in "[Pr.440] Cam No." is valid when he cam axis curren value per cycle passes hrough he 0h poin of cam daa, or is on he 0h poin. [Pr.441] Cam sroke amoun Se he cam sroke amoun corresponding o a 100% sroke raio in oupu axis posiion unis ( Page 110 Unis for he oupu axis) for cam conrol using he sroke raio daa forma. The cam sroke amoun can be changed during synchronous conrol. The value se in "[Pr.441] Cam sroke amoun" is valid when he cam axis curren value per cycle passes hrough he 0h poin of cam daa, or is on he 0h poin. The seing value is ignored for a cam using he coordinae daa forma. 4 [Pr.442] Cam axis lengh per cycle change seing Se o change he cam axis lengh per cycle during synchronous conrol. I can be changed for cam conrol using he cam No.0 (linear cam), he sroke raio daa forma, and he coordinae daa forma. However, i canno be changed when he cam daa whose saring poin is oher han 0 is used for he sroke raio daa forma. Seing value Deails 0: Invalid The cam axis lengh per cycle canno be changed during synchronous conrol. 0: Valid The value se in "[Pr.439] Cam axis lengh per cycle" is valid when he cam axis curren value per cycle passes hrough he 0h poin of cam daa, or is on he 0h poin. [Pr.444] Cam axis phase compensaion advance ime Se he ime o advance or delay he phase of he cam axis curren value per cycle in he cam conrol. Seing value Deails 1 o [ s] Advance he phase according o he seing ime. 0 [ s] Do no execue phase compensaion o -1 [ s] Delay he phase according o he seing ime. If he seing ime is oo long, he sysem experiences overshoo or undershoo a acceleraion/deceleraion of he inpu speed. In his case, se a longer ime o affec he phase compensaion amoun in "[Pr.445] Cam axis phase compensaion ime consan". 4 ADVANCED SYNCHRONOUS CONTROL 4.5 Oupu Axis Module 113

116 [Pr.445] Cam axis phase compensaion ime consan Se he ime consan o affec he phase compensaion amoun for he firs order delay. 63 [%] of he phase compensaion amoun is refleced in he ime consan seing. Cam axis curren value per cycle Cam axis feed curren value Inpu speed before phase compensaion [Pr.444] Cam axis phase compensaion advance ime Curren value per cycle afer phase compensaion Curren value per cycle before phase compensaion Inpu speed afer phase compensaion [Md.406] Cam axis phase compensaion amoun 63% Speed before phase compensaion [Pr.444] Cam axis phase compensaion advance ime 63% [Pr.445] Cam axis phase compensaion ime consan [Pr.445] Cam axis phase compensaion ime consan [Pr.446] Synchronous conrol deceleraion ime Se he ime o decelerae o a sop when deceleraion sop occurs during synchronous conrol. Se he ime from "[Pr.8] Speed limi value" unil he speed becomes 0 in unis of ms. Operaion assumes an immediae sop when "0" is se. [Pr.447] Oupu axis smoohing ime consan Se he averaging ime o execue a smoohing process for he movemen amoun of he oupu axis afer cam daa conversion. The smoohing process can moderae rapid speed flucuaion for cams using he coordinae daa forma, ec. The inpu response is delayed depending on he ime corresponding o he seing by smoohing process seing. [Md.407] Cam axis curren value per cycle [Md.20] Feed curren value [Md.22] Feedrae [Md.409] Cam axis feed curren value [Md.20] Feed curren value Speed before smoohing Speed afer smoohing [Pr.447] Oupu axis smoohing ime consan ADVANCED SYNCHRONOUS CONTROL 4.5 Oupu Axis Module

117 4.6 Synchronous Conrol Change Funcion Overview of synchronous conrol change funcion This funcion can change he cam reference posiion, he cam axis curren value per cycle and he curren value per cycle afer he main/auxiliary shaf gear during he synchronous conrol. The following 5 mehods exis for he synchronous conrol change funcion. Refer o he following on each change command. Page 115 Synchronous conrol change conrol daa Synchronous conrol change command Applicaion Oupu axis operaion Cam reference posiion movemen Adjus he cam reference posiion by he movemen amoun. Change cam axis curren value per cycle Change he cam axis curren value per cycle. None Change curren value per cycle afer main shaf gear Change curren value per cycle afer auxiliary shaf gear Cam axis curren value per cycle movemen Change he curren value per cycle afer main shaf gear. Change he curren value per cycle afer auxiliary shaf gear. Adjus he phase of he cam axis by he movemen amoun. Operaed None None Operaed 4 Synchronous conrol change conrol daa n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Cd.406] Synchronous conrol change reques [Cd.407] Synchronous conrol change command [Cd.408] Synchronous conrol change value [Cd.409] Synchronous conrol reflecion ime Se "1" o iniiae a synchronous conrol change command reques. The value is rese o "0" auomaically afer compleion of he synchronous conrol change. Fech cycle: Operaion cycle Se he synchronous conrol change command. Fech cycle: A requesing synchronous conrol change Se he change value for synchronous conrol change processing. Fech cycle: A requesing synchronous conrol change Se he reflecion ime for synchronous conrol change processing. Fech cycle: A requesing synchronous conrol change *1 Se he value as follows in a user program. 0 o 32767: Se as a decimal o 65535: Conver ino a hexadecimal and se. For labels, refer o he following. Page 157 Conrol daa for synchronous conrol [Cd.406] Synchronous conrol change reques Se in decimal. 1: Synchronous conrol change reques Se in decimal. 0: Cam reference posiion movemen 1: Change cam axis curren value per cycle 2: Change curren value per cycle afer main shaf gear 3: Change curren value per cycle afer auxiliary shaf gear 4: Cam axis curren value per cycle movemen Se in decimal o (Refer o he deailed explanaion for unis.) Buffer memory address n n n n Se in decimal n 0~65535 [ms] *1 Se "1" o iniiae "[Cd.407] Synchronous conrol change command". The Simple Moion board reses he value o "0" auomaically afer compleion of he synchronous conrol change. The seing is iniialized o "0" when saring synchronous conrol. 4 ADVANCED SYNCHRONOUS CONTROL 4.6 Synchronous Conrol Change Funcion 115

118 [Cd.407] Synchronous conrol change command Se he synchronous conrol change command. Seing value Deails Reference 0 Cam reference posiion movemen Page 116 Cam reference posiion movemen 1 Change cam axis curren value per cycle Page 116 Change cam axis curren value per cycle 2 Change curren value per cycle afer main shaf gear Page 117 Change curren value per cycle afer main shaf gear 3 Change curren value per cycle afer auxiliary shaf gear Page 117 Change curren value per cycle afer auxiliary shaf gear 4 Cam axis curren value per cycle movemen Page 117 Cam axis curren value per cycle movemen Cam reference posiion movemen This command is execued o move he cam reference posiion hrough adding he seing movemen amoun of "[Cd.408] Synchronous conrol change value". The movemen amoun o be added is averaged in "[Cd.409] Synchronous conrol reflecion ime" for is oupu. Se a long reflecion ime when a large movemen amoun is used since he cam axis feed curren value moves wih he movemen amoun. [Md.407] Cam axis curren value per cycle [Md.409] Cam axis feed curren value (Feed curren value) [Cd.406] Synchronous conrol change reques [Cd.407] Synchronous conrol change command [Cd.408] Synchronous conrol change value [Md.408] Cam reference posiion [Cd.409] Synchronous conrol reflecion ime 0: Cam reference posiion movemen When "[Cd.406] Synchronous conrol change reques" is rese o "0" while execuing he cam reference posiion movemen insrucion, operaion is sopped midway. If he cam reference posiion movemen insrucion is execued again, he remainder movemen amoun is no refleced, and he operaion sars wih "[Cd.408] Synchronous conrol change value" o be used again. If synchronous conrol is sopped while he cam reference posiion movemen insrucion is being execued, operaion also sops midway. If synchronous conrol is resared, he remainder movemen amoun is no refleced. Change cam axis curren value per cycle The cam axis curren value per cycle is changed o "[Cd.408] Synchronous conrol change value". The cam reference posiion will be also changed o correspond o he changed cam axis curren value per cycle. This operaion is compleed wihin one operaion cycle. [Md.407] Cam axis curren value per cycle [Cd.408] Synchronous conrol change value [Md.409] Cam axis feed curren value (Feed curren value) [Md.408] Cam reference posiion [Cd.406] Synchronous conrol change reques (Before being changed) (Afer being changed) Changed o new cam reference posiion [Cd.407] Synchronous 1: Change cam axis curren value per cycle conrol change command ADVANCED SYNCHRONOUS CONTROL 4.6 Synchronous Conrol Change Funcion

119 Change curren value per cycle afer main shaf gear The curren value per cycle afer main shaf gear is changed o he value se in "[Cd.408] Synchronous conrol change value". This operaion is compleed wihin one operaion cycle. Cluch conrol is no execued if he curren value per cycle afer main shaf gear (he value before being changed and afer being changed) has already passed hrough he ON/OFF address in address mode. Change curren value per cycle afer auxiliary shaf gear The curren value per cycle afer auxiliary shaf gear is changed o he value se in "[Cd.408] Synchronous conrol change value". This operaion is compleed wihin one operaion cycle. Cluch conrol is no execued if he curren value per cycle afer he auxiliary shaf gear (he value before being changed and afer being changed) has already passed hrough he ON/OFF address in address mode. Cam axis curren value per cycle movemen This command is execued o move he cam axis curren value per cycle hrough adding he seing movemen amoun of "[Cd.408] Synchronous conrol change value". The movemen amoun o be added is averaged in "[Cd.409] Synchronous conrol reflecion ime" for is oupu. Se a long reflecion ime when a large movemen amoun is used since he cam axis feed curren value moves wih he movemen amoun. 4 [Md.407] Cam axis curren value per cycle [Md.409] Cam axis feed curren value (Feed curren value) [Cd.408] Synchronous conrol change value [Md.408] Cam reference [Cd.409] Synchronous conrol reflecion ime posiion [Cd.406] Synchronous conrol change reques [Cd.407] Synchronous 4: Cam axis curren value per cycle movemen conrol change command [API library] To change he curren value of cam axis curren value per cycle, curren value per cycle afer main shaf gear, or curren value per cycle afer auxiliary shaf gear during synchronous conrol, use he MMC_Axis::ChangeSyncPosiion mehod. To move he cam axis curren value per cycle or he cam reference posiion during synchronous conrol, use he MMC_Axis::MoveCamPosiion mehod. [Cd.408] Synchronous conrol change value Se he change value for synchronous conrol change processing as follows. [Cd.407] Synchronous conrol change command 0: Cam reference posiion movemen o : Change cam axis curren value per cycle 2: Change curren value per cycle afer main shaf gear 3: Change curren value per cycle afer auxiliary shaf gear 4: Cam axis curren value per cycle movemen [Cd.408] Synchronous conrol change value Seing range Uni Seing deails Oupu axis posiion uni Cam axis cycle uni Se he movemen amoun of he cam reference posiion. I moves wihin he range from o Se he change curren value per cycle. The seing value is convered wihin he range from 0 o (Cam axis lengh per cycle - 1). Se he movemen amoun of he cam axis curren value per cycle. I moves wihin he range from o ADVANCED SYNCHRONOUS CONTROL 4.6 Synchronous Conrol Change Funcion 117

120 [Cd.409] Synchronous conrol reflecion ime Se he reflecion ime for synchronous conrol change processing as follows. [Cd.407] Synchronous conrol change command Seing deails for "[Cd.409] Synchronous conrol reflecion ime 0: Cam reference posiion movemen The ime o reflec he movemen amoun o he cam reference posiion. 1: Change cam axis curren value per cycle Seing no required. 2: Change curren value per cycle afer main shaf gear 3: Change curren value per cycle afer auxiliary shaf gear 4: Cam axis curren value per cycle movemen The ime o reflec he movemen amoun o he cam axis curren value per cycle ADVANCED SYNCHRONOUS CONTROL 4.6 Synchronous Conrol Change Funcion

121 4.7 Synchronous Conrol Monior Daa Synchronous conrol monior daa is updaed only during synchronous conrol. The monior values ([Md.400], [Md.401], [Md.402], [Md.407], [Md.408], and [Md.409]) from he las synchronous conrol session are resored he nex ime he sysem's power supply urns ON. Resaring operaion saus from he las synchronous conrol session is possible hrough reurning o he las posiion via posiioning conrol ( Page 125 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION). "The las synchronous conrol session" indicaes saus jus before he las synchronous conrol session was sopped as follows. These are lised wih he las synchronizaion saus. Jus before " Cd.380 Synchronous conrol sar" urns from ON o OFF. Jus before deceleraion sop by a sop command or an error, ec. Jus before he sysem's power supply urned OFF o he Simple Moion board. n: Axis No Monior iem Sorage deails Monior value Buffer memory address [Md.400] Curren value afer composie main shaf gear The curren value afer combining he main inpu and sub inpu values from he main shaf is sored. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Main inpu axis posiion unis *1 ] n n [Md.401] Curren value per cycle afer main shaf gear The curren value per cycle afer he main shaf gear is sored. One cycle is considered he cam axis lengh per cycle. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *2 ] n n [Md.402] Curren value per cycle afer auxiliary shaf gear The curren value per cycle afer he auxiliary shaf gear is sored. One cycle is considered he cam axis lengh per cycle. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *2 ] n n [Md.406] Cam axis phase compensaion amoun The curren phase compensaion amoun is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Cam axis cycle unis *2 ] n n [Md.407] Cam axis curren value per cycle The curren value per cycle is sored, which is calculaed from he inpu movemen amoun o he cam axis. (The value afer phase compensaion) Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *2 ] n n [Md.408] Cam reference posiion The feed curren value as he cam reference posiion is sored. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Oupu axis posiion unis *3 ] n n [Md.409] Cam axis feed curren value The feed curren value while conrolling he cam axis is sored. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Oupu axis posiion unis *3 ] n n [Md.410] Execue cam No. The execuing cam No. is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0 o n [Md.411] Execue cam sroke amoun The execuing cam sroke amoun is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Oupu axis posiion unis *3 ] n n [Md.412] Execue cam axis lengh per cycle The execuing cam axis lengh per cycle is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 1 o [Cam axis cycle unis *2 ] n n 4 ADVANCED SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa 119

122 Monior iem Sorage deails Monior value Buffer memory address [Md.420] Main shaf cluch ON/OFF saus [Md.421] Main shaf cluch smoohing saus [Md.422] Main shaf cluch slippage (accumulaive) [Md.423] Auxiliary shaf cluch ON/ OFF saus [Md.424] Auxiliary shaf cluch smoohing saus [Md.425] Auxiliary shaf cluch slippage (accumulaive) The ON/OFF saus of main shaf cluch is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) The smoohing saus of main shaf cluch is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) The accumulaive slippage of he main shaf cluch smoohing wih slippage mehod is sored as a signed value. Refresh cycle: Operaion cycle (During synchronous conrol only) The ON/OFF saus of he auxiliary shaf cluch is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) The smoohing saus of he auxiliary shaf cluch is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) The accumulaive slippage on he auxiliary shaf cluch smoohing wih slippage mehod is sored as a signed value. Refresh cycle: Operaion cycle (During synchronous conrol only) *1 Main inpu axis posiion unis ( Page 24 INPUT AXIS MODULE) *2 Cam axis cycle unis ( Page 110 Unis for he oupu axis) *3 Oupu axis posiion unis ( Page 110 Unis for he oupu axis) *4 Auxiliary shaf posiion unis ( Page 24 INPUT AXIS MODULE) For labels, refer o he following. Page 155 Synchronous conrol monior daa Monioring is carried ou in decimal display. 0: Cluch OFF saus 1: Cluch ON saus Monioring is carried ou in decimal display. 0: No on cluch smoohing 1: On cluch smoohing Monioring is carried ou in decimal display o [Main inpu axis posiion unis *1 or Cam axis cycle unis *2 ] Monioring is carried ou in decimal display. 0: Cluch OFF saus 1: Cluch ON saus Monioring is carried ou in decimal display. 0: No on cluch smoohing 1: On cluch smoohing Monioring is carried ou in decimal display o [Auxiliary shaf posiion unis *4 or Cam axis cycle unis *2 ] n n n n n n n n [Md.400] Curren value afer composie main shaf gear The curren value afer combining he main inpu and he sub inpu values going ino he composie main shaf gear is sored as an accumulaive value. Unis are in posiion unis of he main inpu axis ( Page 24 INPUT AXIS MODULE). The uni is pulse if he main inpu axis is invalid. The curren value afer composie main shaf gear will be changed when he following operaions are execued in he main inpu axis during synchronous conrol. Operaions of main inpu axis (Synchronous conrol) Servo inpu axis Absolue posiion deecion sysem: valid Absolue posiion deecion sysem: invalid Home posiion reurn Change mehod 1) Synchronous encoder axis Curren value change Change mehod 1) Change mehod 1) Speed conrol *1 Change mehod 1) Fixed-pich feed conrol Change mehod 1) Speed-posiion swiching conrol *1 Change mehod 1) Posiion-speed swiching conrol *1 Change mehod 1) Connecion o servo amplifier Change mehod 2) Change mehod 1) Connecion o synchronous encoder Change mehod 1) *1 When "2: Clear feed curren value o zero" is se in "[Pr.21] Feed curren value during speed conrol" only. Change mehod 1): The new curren value afer composie main shaf gear is calculaed based on he curren value of he main inpu axis. Curren value afer composie main shaf gear = Main inpu direcion of composie main shaf gear Main inpu axis curren value Change mehod 2): The movemen amoun of he main inpu axis from he las synchronous conrol session is refleced o he curren value afer composie main shaf gear ADVANCED SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa

123 Curren value afer composie main shaf gear = Curren value afer composie main shaf gear Movemen amoun of main inpu axis from he las synchronous conrol session [Md.401] Curren value per cycle afer main shaf gear The inpu movemen amoun afer he main shaf gear is sored wihin he range from 0 o (Cam axis lengh per cycle - 1). The uni is in cam axis cycle unis ( Page 110 Unis for he oupu axis). The value is resored according o "[Pr.460] Seing mehod of curren value per cycle afer main shaf gear" when saring synchronous conrol. ( Page 125 Synchronous Conrol Iniial Posiion) [Md.402] Curren value per cycle afer auxiliary shaf gear The inpu movemen amoun afer he auxiliary shaf gear is sored wihin he range from 0 o (Cam axis lengh per cycle - 1). The uni is in cam axis cycle unis ( Page 110 Unis for he oupu axis). The value is resored according o "[Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear" when saring synchronous conrol. ( Page 125 Synchronous Conrol Iniial Posiion) 4 [Md.406] Cam axis phase compensaion amoun The phase compensaion amoun for he cam axis is sored wih cam axis cycle unis ( Page 110 Unis for he oupu axis). The phase compensaion amoun afer smoohing processing wih " [Pr.445] Cam axis phase compensaion ime consan" is sored. [Md.407] Cam axis curren value per cycle The cam axis curren value per cycle is sored wihin he range from 0 o (Cam axis lengh per cycle - 1). The curren value afer cam axis phase compensaion processing can be moniored. The uni is in cam axis cycle unis ( Page 110 Unis for he oupu axis). The value is resored according o "[Pr.462] Cam axis posiion resoraion objec" when saring synchronous conrol. ( Page 125 Synchronous Conrol Iniial Posiion) [Md.408] Cam reference posiion The feed curren value is sored as he cam reference posiion. The uni is in oupu axis posiion unis ( Page 110 Unis for he oupu axis). When he uni is in degrees, a range from 0 o is used. The value is resored according o "[Pr.462] Cam axis posiion resoraion objec" when saring synchronous conrol. ( Page 125 Synchronous Conrol Iniial Posiion) [Md.409] Cam axis feed curren value The feed curren value of he cam axis is sored. The value is he same as "[Md.20] Feed curren value" during synchronous conrol. [Md.410] Execue cam No. The execuing cam No. is sored. When "[Pr.440] Cam No." is changed during synchronous conrol, his is updaed when he conrolling cam No. swiches. [Md.411] Execue cam sroke amoun The execuing cam sroke amoun is sored. When "[Pr.441] Cam sroke amoun" is changed during synchronous conrol, his is updaed when he conrolling cam sroke amoun swiches. [Md.412] Execue cam axis lengh per cycle The execuing cam axis lengh per cycle is sored. When "[Pr.439] Cam axis lengh per cycle" is changed during synchronous conrol, his is updaed when he conrolling cam axis lengh per cycle swiches. 4 ADVANCED SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa 121

124 [Md.420] Main shaf cluch ON/OFF saus The cluch ON/OFF saus is sored. [Md.421] Main shaf cluch smoohing saus The smoohing saus of he cluch is sored. The saus is updaed by he cluch smoohing mehod as follows. Mehod Time consan mehod Slippage mehod Deails The saus is always "1: On cluch smoohing" during he cluch ON saus. The saus will be "0: No on cluch smoohing" when he cluch is urned OFF and smoohing is compleed. The saus is "1: On cluch smoohing" ill he cluch accumulaive slippage amoun reaches he slippage a cluch ON when he cluch is urned ON. The saus will change o "0: No on cluch smoohing" when he cluch accumulaive slippage amoun reaches he slippage a cluch ON. The saus is "1: On cluch smoohing" ill he cluch accumulaive slippage amoun reaches 0 when he cluch is urned OFF. The saus will change o "0: No on cluch smoohing" when he cluch accumulaive slippage amoun reaches 0. [Md.422] Main shaf cluch slippage (accumulaive) The accumulaive slippage amoun wih he slippage mehod is sored as a signed value. The absolue value of he accumulaive slippage increases o reach he slippage a cluch ON during cluch ON. The absolue value of he accumulaive slippage decreases o reach 0 during cluch OFF. Monioring of he accumulaive slippage is used o check he smoohing progress wih he slippage mehod. [Md.423] Auxiliary shaf cluch ON/OFF saus The cluch ON/OFF saus is sored. [Md.424] Auxiliary shaf cluch smoohing saus The smoohing saus of he cluch is sored. The saus is updaed by he cluch smoohing mehod as follows. Mehod Time consan mehod Slippage mehod Deails The saus is always "1: On cluch smoohing" during he cluch ON saus. The saus will be "0: No on cluch smoohing" when he cluch is urned OFF and smoohing is compleed. The saus is "1: On cluch smoohing" ill he cluch accumulaive slippage amoun reaches he slippage a cluch ON when he cluch is urned ON. The saus will change o "0: No on cluch smoohing" when he cluch accumulaive slippage amoun reaches he slippage a cluch ON. The saus is "1: On cluch smoohing" ill he cluch accumulaive slippage amoun reaches 0 when he cluch is urned OFF. The saus will change o "0: No on cluch smoohing" when he cluch accumulaive slippage amoun reaches 0. [Md.425] Auxiliary shaf cluch slippage (accumulaive) The accumulaive slippage amoun wih he slippage mehod is sored as a signed value. The absolue value of he accumulaive slippage increases o reach he slippage a cluch ON during cluch ON. The absolue value of he accumulaive slippage decreases o reach 0 during cluch OFF. Monioring of he accumulaive slippage is used o check he smoohing progress wih he slippage mehod ADVANCED SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa

125 4.8 Phase Compensaion Funcion In synchronous conrol, delays in progresses, ec. cause he phase o deviae a he oupu axis moor shaf end wih respec o he inpu axis (servo inpu axis or synchronous encoder axis). The phase compensaion funcion compensaes in his case so ha he phase does no deviae. Phase compensaion can be se for he inpu and he oupu axis. I is possible o compensae using he delay ime inheren o he sysem based on he servo inpu axis or he synchronous encoder axis on he inpu axis side. I is also possible o use a compensaion delay ime equivalen o he posiion deviaion for each servo amplifier on he oupu axis side. Phase compensaion of delay ime of he inpu axis Se delay ime inheren o he sysem in he phase compensaion advance ime of he inpu axis ("[Pr.302] Servo inpu axis phase compensaion advance ime", "[Pr.326] Synchronous encoder axis phase compensaion advance ime"). The delay ime inheren o he sysem is shown below. 4 Delay ime inheren o he sysem for a servo inpu axis Operaion cycle [ms] [Pr.300] Servo inpu axis ype Feed curren value Real curren value Command o servo amplifier [ s] 1804 [ s] 0 [ s] 2805 [ s] [ s] 2777 [ s] 0 [ s] 4777 [ s] [ s] 4722 [ s] 0 [ s] 8722 [ s] Delay ime inheren o he sysem for a synchronous encoder axis Feedback value [ s] 8722 [ s] 0 [ s] [ s] Operaion cycle [ms] [Pr.320] Synchronous encoder axis ype Synchronous encoder via servo amplifier Synchronous encoder via buffer memory [ s] 2314 [ s] 2314 [ s] [ s] 3790 [ s] 3790 [ s] [ s] 6743 [ s] 6743 [ s] [ s] [ s] [ s] Synchronous encoder via link device Phase compensaion of delay ime of he oupu axis Se delay ime equivalen o he posiion deviaion on he servo amplifier in "[Pr.444] Cam axis phase compensaion advance ime" for he oupu axis. The delay ime equivalen o posiion deviaion of he servo amplifier is calculaed using he following formula. (When using MR-J4-GF) Delay ime [ s] = / Servo parameer "Model loop gain (PB07)" When he feed forward gain is se, he delay ime is se o a smaller value han he value lised above. The model loop gain will change when he gain adjusmen mehod is auo uning mode 1 or 2. The model loop gain mus no be changed on he axis execuing phase compensaion hrough prevening change wih he manual mode or inerpolaion mode seing. Seing example When axis 1 is synchronized wih a synchronous encoder axis via servo amplifier, he phase compensaion advance ime is se as follows. (If he operaion cycle is as 2.00 [ms] and model loop gain of axis 1 is as 80.) Seing iem [Pr.326] Synchronous encoder axis phase compensaion advance ime [Pr.444] Cam axis phase compensaion advance ime Seing value 8767 [ s] (Reference: Delay ime inheren o sysem for a synchronous encoder axis) / 80 = [ s] When overshoo or undershoo occurs during acceleraion/deceleraion, se a longer ime for he phase compensaion ime consan. 4 ADVANCED SYNCHRONOUS CONTROL 4.8 Phase Compensaion Funcion 123

126 4.9 Oupu Axis Sub Funcions The following shows which sub funcions apply for he oupu axis in synchronous conrol. : Valid, : Invalid Sub funcion Oupu axis Deails Backlash compensaion funcion The same conrol as oher mehods. Elecronic gear funcion Speed limi funcion Seing is ignored. ("[Pr.8] Speed limi value" mus be se o use "[Pr.446] Synchronous conrol deceleraion ime".) Torque limi funcion Conrolled wih "[Pr.17] Torque limi seing value" or "[Cd.101] Torque oupu seing value" similar o oher mehods. Sofware sroke limi funcion The axis sops immediaely when exceeding he sofware sroke limi range. To disable he sofware sroke limi, se he seing value so ha "Upper limi value = Lower limi value". Hardware sroke limi funcion Conrolled he same as posiioning conrol. Forced sop funcion Same conrol as oher mehods. Speed change funcion Seing is ignored. Override funcion Acceleraion/deceleraion ime change funcion Torque change funcion Same conrol as oher mehods. Absolue sysem Sep funcion Seing is ignored. Skip funcion M code oupu funcion M code is no able o oupu. Teaching funcion Seing is ignored. Targe posiion change funcion Command in-posiion funcion Acceleraion/deceleraion processing funcion Pre-reading sar funcion Seing is ignored. Deceleraion sar flag funcion Sop command processing for deceleraion sop funcion Speed conrol 10 x muliplier seing for degree axis funcion Operaion seing for incompleion of home posiion reurn funcion Valid a deceleraion sop only. Deceleraion ime is se in "[Pr.446] Synchronous conrol deceleraion ime". Refleced on monior daa. Conroller in-posiion funcion Conrolled he same as posiioning conrol. Conrolled he same as posiioning conrol. For a sysem ha needs alignmen, sar synchronous conrol afer esablishing an a home posiion. Servo ON/OFF Servo OFF reques is ignored during synchronous conrol s imilar o posiioning conrol. Sub funcions for an inpu axis in synchronous conrol conform o he specificaion of each conrol (Home posiion reurn conrol, Posiioning conrol, Manual conrol, Speed orque conrol). Refer o he following for deails. Simple Moion Board User's Manual (Applicaion) ADVANCED SYNCHRONOUS CONTROL 4.9 Oupu Axis Sub Funcions

127 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION The iniial posiion for synchronous conrol is explained in his chaper. Configure hese seings for siuaions ha require iniial posiion alignmen for synchronous conrol. 5.1 Synchronous Conrol Iniial Posiion The following synchronous conrol monior daa can be aligned o a se posiion when saring synchronous conrol, as he iniial posiion for synchronous conrol. The alignmen o a synchronous conrol iniial posiion is useful for resoring a sysem based on he las conrol saus along wih resaring synchronous conrol afer canceling midway. Synchronous conrol monior daa [Md.400] Curren value afer composie main shaf gear [Md.401] Curren value per cycle afer main shaf gear [Md.402] Curren value per cycle afer auxiliary shaf gear [Md.407] Cam axis curren value per cycle [Md.408] Cam reference posiion [Md.409] Cam axis feed curren value The posiion when saring synchronous conrol Resored o a posiion based on he main inpu axis of he main shaf. Resored according o "[Pr.460] Seing mehod of curren value per cycle afer main shaf gear". Resored according o "[Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear". Resored according o "[Pr.462] Cam axis posiion resoraion objec". 5 [Md.400] Curren value afer composie main shaf gear Main shaf main inpu axis Composie main shaf gear Main shaf gear Auxiliary shaf gear Main shaf sub inpu axis Auxiliary shaf cluch [Md.401] Curren value per cycle afer main shaf gear Main shaf cluch Composie auxiliary shaf gear [Pr.460] Seing mehod of curren value per cycle afer main shaf gear 0: Previous value 1: Iniial seing value of curren value per cycle afer main shaf gear 2: Calculae from inpu axis [Md.407] Cam axis curren value per cycle Auxiliary shaf axis Oupu axis [Md.402] Curren value per cycle afer auxiliary shaf gear [Md.408] Cam reference posiion [Md.409] Cam axis feed curren value [Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear 0: Previous value 1: Iniial seing value of curren value per cycle afer auxiliary shaf gear 2: Calculae from inpu axis [Pr.462] Cam axis posiion resoraion objec 0: Cam axis curren value per cycle resoraion 1: Cam reference posiion resoraion 2: Cam axis feed curren value resoraion 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.1 Synchronous Conrol Iniial Posiion 125

128 Curren value afer composie main shaf gear a synchronous conrol sar The curren value afer composie main shaf gear is resored as follows according o he main inpu axis operaion execued before saring synchronous conrol. Operaion of main inpu axis (Before synchronous conrol sar) Servo inpu axis Absolue posiion deecion sysem valid Absolue posiion deecion sysem invalid Home posiion reurn Resoraion mehod 1) Synchronous encoder axis Curren value change Resoraion mehod 1) Resoraion mehod 1) Speed conrol *1 Resoraion mehod 1) Fixed-pich feed conrol Resoraion mehod 1) Speed-posiion swiching conrol *1 Resoraion mehod 1) Posiion-speed swiching conrol *1 Resoraion mehod 1) Connecion o servo amplifier Resoraion mehod 2) Resoraion mehod 1) Connecion o synchronous encoder Resoraion mehod 1) Ohers Resoraion mehod 2) Resoraion mehod 2) *1 When "[Pr.300] Servo inpu axis ype" is eiher "1: Feed curren value" or "2: Real curren value", and when "[Pr.21] Feed curren value during speed conrol" is "2: Clear feed curren value o zero" only. Resoraion mehod 1): The new curren value afer composie main shaf gear is calculaed based on he curren value of he main inpu axis. Curren value afer composie main shaf gear = Main inpu direcion of composie main shaf gear Main inpu axis curren value Resoraion mehod 2): The movemen amoun of he main inpu axis from he las synchronous conrol session is refleced o he curren value afer composie main shaf gear. Curren value afer composie main shaf gear = Curren value afer composie main shaf gear a he las synchronous conrol session + Main inpu direcion of composie main shaf gear Amoun of change of main inpu axis curren value from he las synchronous conrol session The curren value afer composie main shaf gear a he las synchronous conrol session is resored when "0: Invalid" is se in "[Pr.400] Main inpu axis No.", or when a servo inpu axis or a synchronous encoder axis as he main inpu axis is no conneced. "The las synchronous conrol session" indicaes saus jus before he las synchronous conrol session was sopped as follows. These are lised wih he las synchronizaion saus. Jus before "[Cd.380] Synchronous conrol sar" urns from ON o OFF. Jus before deceleraion sop by a sop command or an error, ec. Jus before he power supply of he Simple Moion board urns OFF ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.1 Synchronous Conrol Iniial Posiion

129 Curren value per cycle afer main/auxiliary shaf gear a synchronous conrol sar The curren value per cycle afer main shaf gear/curren value per cycle afer auxiliary shaf gear is resored as follows according o he main inpu axis/auxiliary shaf operaion execued before saring synchronous conrol. Operaion of main inpu axis / auxiliary shaf (Before synchronous conrol sar) Servo inpu axis Absolue posiion deecion sysem valid Absolue posiion deecion sysem invalid Synchronous encoder axis Home posiion reurn Resoraion mehod 1) Curren value change Resoraion mehod 1) Resoraion mehod 1) Speed conrol *1 Resoraion mehod 1) Fixed-pich feed conrol Resoraion mehod 1) Speed-posiion swiching conrol *1 Resoraion mehod 1) Posiion-speed swiching conrol *1 Resoraion mehod 1) Connecion o servo amplifier Resoraion mehod 2) Resoraion mehod 1) Connecion o synchronous encoder Resoraion mehod 1) Ohers Resoraion mehod 2) Resoraion mehod 2) 5 *1 When "[Pr.300] Servo inpu axis ype" is eiher "1: Feed curren value" or "2: Real curren value", and when "[Pr.21] Feed curren value during speed conrol" is "2: Clear feed curren value o zero" only. Resoraion mehod 1): The new value of he curren value per cycle afer main shaf gear/curren value per cycle afer auxiliary shaf gear is calculaed based on he curren value afer composie main shaf gear/auxiliary shaf curren value. [Main shaf] Curren value per cycle afer main shaf gear = Main shaf gear raio Curren value afer composie main shaf gear [Auxiliary shaf] Curren value per cycle afer auxiliary shaf gear = Auxiliary shaf gear raio Auxiliary shaf curren value Resoraion mehod 2): The movemen amoun from he las synchronous conrol session is refleced o he curren value per cycle afer main shaf gear/curren value per cycle afer auxiliary shaf gear. [Main shaf] Curren value per cycle afer main shaf gear = Curren value per cycle afer main shaf gear a he las synchronous conrol session + Main shaf gear raio Amoun of change of curren value afer composie main shaf gear from he las synchronous conrol session [Auxiliary shaf] Curren value per cycle afer auxiliary shaf gear = Curren value per cycle afer auxiliary shaf gear a he las synchronous conrol session + Auxiliary shaf gear raio Amoun of change of auxiliary shaf curren value from he las synchronous conrol session The curren value per cycle afer main shaf gear/curren value per cycle afer auxiliary shaf gear a he las synchronous conrol session is resored when "0: Invalid" is se in "[Pr.400] Main inpu axis No."/"[Pr.418] Auxiliary shaf axis No.", or when a servo inpu axis or a synchronous encoder axis as he main inpu axis/auxiliary shaf is no conneced. 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.1 Synchronous Conrol Iniial Posiion 127

130 Cam axis posiion a synchronous conrol sar The cam axis posiion is composed of he relaionship of 3 posiions "Cam axis curren value per cycle", "Cam reference posiion" and "Cam axis feed curren value". One of posiions can be resored by defining 2 posiions when saring synchronous conrol. Cam axis curren value per cycle Cam axis feed curren value Cam reference posiion Selec from 3 objecs as follows in "[Pr.462] Cam axis posiion resoraion objec" which posiion is o be resored. (Refer o Page 132 Cam Axis Posiion Resoraion Mehod for deails on he resoraion mehod.) Cam axis curren value per cycle resoraion Cam reference posiion resoraion Cam axis feed curren value resoraion Various parameers need o be se for he cam axis posiion resoraion as shown below. (Refer o Page 129 Synchronous Conrol Iniial Posiion Parameers for he seing deails.) : Required, :Required for iniial seing value, : No required [Pr.462] Cam axis posiion resoraion objec 0: Cam axis curren value per cycle resoraion 1: Cam reference posiion resoraion 2: Cam axis feed curren value resoraion [Pr.463] Seing mehod of cam reference posiion [Pr.467] Cam reference posiion (Iniial seing) [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.468] Cam axis curren value per cycle (Iniial seing) (Used as search saring poin) Resoraion processing deails Resore "Cam axis curren value per cycle" based on "Cam reference posiion" and "Cam axis feed curren value". Resore "Cam reference posiion" based on "Cam axis curren value per cycle" and "Cam axis feed curren value". Resore "Cam axis feed curren value" based on "Cam axis curren value per cycle" and "Cam reference posiion" ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.1 Synchronous Conrol Iniial Posiion

131 5.2 Synchronous Conrol Iniial Posiion Parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.460] Seing mehod of curren value per cycle afer main shaf gear [Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.465] Curren value per cycle afer main shaf gear (Iniial seing) [Pr.466] Curren value per cycle afer auxiliary shaf gear (Iniial seing) [Pr.467] Cam reference posiion (Iniial seing) [Pr.468] Cam axis curren value per cycle (Iniial seing) Selec he seing mehod for he curren value per cycle afer main shaf gear. Fech cycle: A sar of synchronous conrol Selec he seing mehod for he curren value per cycle afer auxiliary shaf gear. Fech cycle: A sar of synchronous conrol Selec he objec o resore he cam axis posiion. Fech cycle: A sar of synchronous conrol Selec he seing mehod for he cam reference posiion. Se for he cam axis curren value per cycle resoraion or he cam axis feed curren value resoraion. Fech cycle: A sar of synchronous conrol Selec he seing mehod for he cam axis curren value per cycle. Se for he cam reference posiion resoraion or he cam axis feed curren value resoraion. Fech cycle: A sar of synchronous conrol Se he iniial value of he curren value per cycle afer main shaf gear. Fech cycle: A sar of synchronous conrol Se he iniial value of he curren value per cycle afer auxiliary shaf gear. Fech cycle: A sar of synchronous conrol Se he iniial value of he cam reference posiion. Fech cycle: A sar of synchronous conrol Se he iniial value for he cam axis curren value per cycle. The resoraion value for he cam axis curren value per cycle is searched from he seing value wih he cam axis curren value per cycle resoraion. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Previous value 1: Iniial seing value of curren value per cycle afer main shaf gear ([Pr.465]) 2: Calculae from inpu axis Se in decimal. 0: Previous value 1: Iniial seing value of curren value per cycle afer auxiliary shaf gear ([Pr.466]) 2: Calculae from inpu axis Se in decimal. 0: Cam axis curren value per cycle resoraion 1: Cam reference posiion resoraion 2: Cam axis feed curren value resoraion Se in decimal. 0: Previous value 1: Iniial seing value of cam reference posiion 2: Feed curren value Se in decimal. 0: Previous value 1: Iniial seing value of cam axis curren value per cycle 2: Curren value per cycle afer main shaf gear 3: Curren value per cycle afer auxiliary shaf gear Se in decimal. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *1 ] Se in decimal. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *1 ] Se in decimal o [Oupu axis posiion unis *2 ] Se in decimal. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *1 ] Buffer memory address n n n n n n n n n n n n n 5 *1 Cam axis cycle unis ( Page 110 Unis for he oupu axis) *2 Oupu axis posiion unis ( Page 110 Unis for he oupu axis) For labels, refer o he following. Page 154 Synchronous parameers: Synchronous conrol iniial posiion 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.2 Synchronous Conrol Iniial Posiion Parameers 129

132 [Pr.460] Seing mehod of curren value per cycle afer main shaf gear Selec he seing mehod of "[Md.401] Curren value per cycle afer main shaf gear" when saring synchronous conrol. Seing value Deails 0: Previous value The curren value per cycle afer main shaf gear from he las synchronous conrol session is sored. 1: Iniial seing value of curren value per cycle afer main shaf gear The value se in "[Pr.465] Curren value per cycle afer main shaf gear (Iniial seing)" is sored. 2: Calculae from inpu axis The value calculaed based on he curren value afer composie main shaf gear is sored. [Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear Selec he seing mehod of "[Md.402] Curren value per cycle afer auxiliary shaf gear" when saring synchronous conrol. Seing value Deails 0: Previous value The curren value per cycle afer auxiliary shaf gear from he las synchronous conrol session is sored. 1: Iniial seing value of curren value per cycle afer auxiliary shaf gear The value se in "[Pr.466] Curren value per cycle afer auxiliary shaf gear (Iniial seing)" is sored. 2: Calculae from inpu axis The value calculaed based on he auxiliary shaf curren value is sored. [Pr.462] Cam axis posiion resoraion objec Selec he objec o be resored from "Cam axis curren value per cycle", "Cam reference posiion" or "Cam axis feed curren value" when saring synchronous conrol. Seing value Deails 0: Cam axis curren value per cycle resoraion Resore he cam axis curren value per cycle from "Cam reference posiion" and "Cam axis feed curren value". 1: Cam reference posiion resoraion Resore he cam reference posiion from "Cam axis curren value per cycle" and "Cam axis feed curren value". 2: Cam axis feed curren value resoraion Resore he cam axis feed curren value from "Cam axis curren value per cycle" and "Cam reference posiion". [Pr.463] Seing mehod of cam reference posiion Selec he mehod for he cam reference posiion o be resored when "[Pr.462] Cam axis posiion resoraion objec" is se o "0: Cam axis curren value per cycle resoraion" or "2: Cam axis feed curren value resoraion". Seing value Deails 0: Previous value The cam reference posiion from he las synchronous conrol session is sored. The feed curren value is sored when he cam reference posiion from he las synchronous conrol session is no saved. 1: Iniial seing value of cam reference posiion The value se in "[Pr.467] Cam reference posiion (Iniial seing)" is sored. 2: Feed curren value The value se in "[Md.20] Feed curren value" is sored. [Pr.464] Seing mehod of cam axis curren value per cycle Selec he mehod for he cam axis curren value per cycle o be resored when "[Pr.462] Cam axis posiion resoraion objec" is se o "1: Cam reference posiion resoraion" or "2: Cam axis feed curren value resoraion". Seing value Deails 0: Previous value The cam axis curren value per cycle from he las synchronous conrol session is sored as is. 1: Iniial seing value of cam axis curren value per cycle The value se in "[Pr.468] Cam axis curren value per cycle (Iniial seing)" is sored. 2: Curren value per cycle afer main shaf gear The curren value per cycle afer main shaf gear is sored. 3: Curren value per cycle afer auxiliary shaf gear The curren value per cycle afer auxiliary shaf gear is sored ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.2 Synchronous Conrol Iniial Posiion Parameers

133 [Pr.465] Curren value per cycle afer main shaf gear (Iniial seing) Se he iniial seing value of he curren value per cycle afer main shaf gear when "[Pr.460] Seing mehod of curren value per cycle afer main shaf gear" is se o "1: Curren value per cycle afer main shaf gear (Iniial seing)". The uni seings are in cam axis cycle unis ( Page 110 Unis for he oupu axis). Se wihin he range from 0 o (Cam axis lengh per cycle - 1). [Pr.466] Curren value per cycle afer auxiliary shaf gear (Iniial seing) Se he iniial seing value of he curren value per cycle afer auxiliary shaf gear when "[Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear" is se o "1: Curren value per cycle afer auxiliary shaf gear (Iniial seing)". The uni seings are in cam axis cycle unis ( Page 110 Unis for he oupu axis). Se wihin he range from 0 o (Cam axis lengh per cycle - 1). [Pr.467] Cam reference posiion (Iniial seing) Se he iniial seing value of he cam reference posiion in oupu axis posiion unis ( Page 110 Unis for he oupu axis) when "[Pr.463] Seing mehod of cam reference posiion" is se o "1: Cam reference posiion (Iniial seing)". 5 [Pr.468] Cam axis curren value per cycle (Iniial seing) Se a value according o he seing for "[Pr.462] Cam axis posiion resoraion objec". The uni seings are in cam axis cycle unis ( Page 110 Unis for he oupu axis). Se wihin he range from 0 o (Cam axis lengh per cycle - 1). [Pr.462] Cam axis posiion resoraion objec Seing value 0: Cam axis curren value per cycle resoraion Se he saring poin for search processing o resore he cam axis curren value per cycle. Se o resore he posiion on he reurn pah in wo-way cam paern operaion. Refer o he following for deails on search processing. Page 132 Cam axis curren value per cycle resoraion 1: Cam reference posiion resoraion Se he iniial seing value for he cam axis curren value per cycle when "[Pr.464] Seing mehod of cam 2: Cam axis feed curren value resoraion axis curren value per cycle" is se o "1: Cam axis curren value per cycle (Iniial seing)". 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.2 Synchronous Conrol Iniial Posiion Parameers 131

134 5.3 Cam Axis Posiion Resoraion Mehod Cam axis curren value per cycle resoraion If "[Pr.462] Cam axis posiion resoraion objec" is se o "0: Cam axis curren value per cycle resoraion" when saring synchronous conrol, he cam axis curren value per cycle is resored based on he cam reference posiion and he cam axis feed curren value. Selec he mehod for he cam reference posiion o be resored. The feed curren value when saring synchronous conrol is used as he cam axis feed curren value. The cam axis curren value per cycle is resored by searching for he corresponding value from he beginning o he end of he cam paern. Se he saring poin from where o search he cam paern in "[Pr.468] Cam axis curren value per cycle (Iniial seing)". (I is also possible o search he reurn pah in a wo-way cam paern operaion.) [Md.20] Feed curren value (A synchronous conrol sar) [Pr.463] Seing mehod of cam reference posiion 0: Previous value 1: Iniial seing value of cam reference posiion 2: Feed curren value [Md.409] Cam axis feed curren value [Md.408] Cam reference posiion The cam axis curren value per cycle is resored based on he cam reference posiion and cam axis feed curren value. [Md.407] Cam axis curren value per cycle Cam axis curren value per cycle Cam axis feed curren value Cam reference posiion Search he cam paern (I is also possible o search from he middle of he cam axis curren value per cycle.) Wih wo-way cam paern operaion, if he corresponding cam axis curren value per cycle is no found, he error "Cam axis curren value per cycle resoraion disable" (error code: 1C28H) will occur and synchronous conrol will no be sared. When saring synchronous conrol, he feed curren value may change slighly from is original posiion a saring synchronous conrol. This is due o he readjusmen of he posiion based on he resored cam axis curren value per cycle. This does no resul in he posiion mismach. Wih a feed operaion cam paern, if he corresponding cam axis curren value per cycle is no found on he firs cycle, he cam reference posiion is changed auomaically and he paern is searched again. If he cam resoluion is large, search processing may ake a long ime when saring synchronous conrol. (Cam resoluion 256: Up o 0.4 ms, Cam resoluion 32768: Up o 26 ms) ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

135 Cam axis curren value per cycle resoraion operaion Wih a wo-way cam paern operaion Search from "Cam axis curren value per cycle = 0". (Cam daa saring poin = 0) Cam axis curren value per cycle Cam axis feed curren value (Feed curren value) Cam reference posiion Search from "Cam axis curren value per cycle=0". Resore o he firs feed curren value ha maches. (Oher values are no resored.) Search from a value in he middle of he cam axis curren value per cycle. (Cam daa saring poin 0) Cam axis curren value per cycle [Pr.468] Cam axis curren value per cycle (Iniial seing) 5 Cam axis feed curren value (Feed curren value) Cam reference posiion Search from he value in he middle. (Preceding values are searched laer.) Resore o he firs feed curren value ha maches. (The resoraion is done on he second.) Search from a value in he middle of he cam axis curren value per cycle. (Cam daa saring poin 0) Cam axis curren value per cycle [Pr.468] Cam axis curren value per cycle (Iniial seing) Cam axis feed curren value (Feed curren value) Cam reference posiion The search fails. Cam daa saring poin Search from he value in he middle. Resore o he firs feed curren value ha maches. Cam axis curren value per cycle Cam axis feed curren value (Feed curren value) Cam reference posiion Resoraion fails. No mach is found for he feed curren value wihin 1 cycle. Wih a feed operaion cam paern Search from "Cam axis curren value per cycle = 0". (Cam daa saring poin = 0) Cam axis curren value per cycle Search from "Cam axis curren value per cycle=0". Cam axis feed curren value (Feed curren value) Resore o he firs feed curren value ha maches. (Oher values are no resored.) Cam reference posiion 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod 133

136 Search from a value in he middle of he cam axis curren value per cycle. (Cam daa saring poin = 0) [Pr.468] Cam axis curren value per cycle (Iniial seing) Cam axis curren value per cycle Cam axis feed curren value (Feed curren value) New cam reference posiion Cam reference posiion a saring he resoraion Updae he cam reference posiion in he nex cycle auomaically. Resore o he firs feed curren value ha maches. Search from a value in he middle of he cam axis curren value per cycle. (Cam daa saring poin 0) Cam axis curren value per cycle [Pr.468] Cam axis curren value per cycle (Iniial seing) Cam axis feed curren value (Feed curren value) Search from he value in he middle. New cam reference posiion Cam reference posiion a saring he resoraion Cam daa saring poin Updae he cam reference posiion in he nex cycle auomaically. (Updae he cam daa on 0h poin.) The firs search is fails and a search begins for he second ime. Resore o he firs feed curren value ha maches. Cam axis curren value per cycle Cam axis feed curren value (Feed curren value) Feed sroke New cam reference posiion Cam reference posiion a saring he resoraion Resore o he firs feed curren value ha is found in he second search. Once he resoraion fails in he firs search, he new cam reference posiion is auomaically updaed o se "Feed curren value - New cam reference posiion" o be wihin he feed sroke amoun, and he search process sars again. If he firs search fails, a second search may no be processed on he nex cycle for a cam paern wih a feed sroke ha is smaller han 100% of he sroke as above. The inended cam axis curren value per cycle can be found in he firs search, by seing or posiioning he cam reference posiion in advance ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

137 Example The following shows an example of resaring he cam (a cam similar o a cam wih a linear feed where wo idenical posiioning poins do no exis on he cam) from he feed curren value afer a forced sop, when he forced sop has sopped operaion. If he following seings are used in a wo-way cam or a cam where idenical posiioning poins exis on he same cam, similar o he cam axis curren value per cycle resoraion operaion ( Page 133 Cam axis curren value per cycle resoraion operaion), he firs maching feed curren value (ouward roue) is resored, herefore resoraion may sar from an uninended cam paern posiion. To avoid resoring he firs maching feed curren value, use cam axis curren feed value resoraion ( Page 139 Cam axis feed curren value resoraion). Seing iem [Pr.439] Cam axis lengh per cycle [Pr.441] Cam sroke amoun [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.467] Cam reference posiion (Iniial seing) [Pr.468] Cam axis curren value per cycle (Iniial seing) Advanced synchronous conrol operaion Seing value 1000 [pulse] 200 [pulse] 0: Cam axis curren value per cycle resoraion 1: Iniial seing value of cam reference posiion 0: Previous value 0 [pulse] 0 [pulse] 5 Feed curren value [pulse] 123 Feed curren value afer free run 0 Time [ms] Forced sop occurred during operaion, and he cam deceleraes o a sop. (Advanced synchronous conrol mode is cancelled) Resore operaion a resar of advanced synchronous conrol Feed curren value [pulse] Cam reference posiion = 0 [pulse] 0 Cam axis curren value per cycle [pulse] Time [ms] Cam is deermined o resar a he posiion where cam axis curren value per cycle is "Feed curren value = 123 [pulse]". Time [ms] 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod 135

138 Cam operaion Feed curren value [pulse] 200 (peak) 123 Cam operaion resars from "Feed curren value = 123 [pulse]" when he previous forced sop occurred. 0 Cam axis curren value per cycle [pulse] Time [ms] Time [ms] ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

139 Cam reference posiion resoraion If "[Pr.462] Cam axis posiion resoraion objec" is se o "1: cam reference posiion resoraion" when saring synchronous conrol, he cam reference posiion is resored based on he cam axis curren value per cycle and he cam axis feed curren value. Selec he mehod for he cam axis curren value per cycle o be resored. The feed curren value when saring synchronous conrol is used as he cam axis feed curren value. [Pr.464] Seing mehod of cam axis curren value per cycle 0: Previous value 1: Iniial seing value of cam axis curren value per cycle 2: Curren value per cycle afer main shaf gear 3: Curren value per cycle afer auxiliary shaf gear [Md.20] Feed curren value (A synchronous conrol sar) [Md.407] Cam axis curren value per cycle [Md.409] Cam axis feed curren value The cam reference posiion is resored based on he cam axis curren value per cycle and he cam axis feed curren value. [Md.408] Cam reference posiion 5 Cam axis curren value per cycle Cam axis feed curren value Cam reference posiion Resored by he equaion of "Feed curren value - Cam axis curren value per cycle" Example The following shows an example of saring operaion from a posiion of "cam axis curren value per cycle=0" by resoring he cam reference posiion when saring from "feed curren value=0[pulse]", in he cam when he cam daa saring poin is no 0. Seing iem [Pr.439] Cam axis lengh per cycle [Pr.441] Cam sroke amoun [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.467] Cam reference posiion (Iniial seing) [Pr.468] Cam axis curren value per cycle (Iniial seing) Seing value 1000 [pulse] 200 [pulse] 1: Cam reference posiion resoraion None 1: Iniial seing value of cam axis curren value per cycle None 0 [pulse] Operaion before saring advanced synchronous conrol Feed curren value [pulse] Sroke raio [%] "Feed curren value = 0" due o home posiion reurn, ec. 100 (200 [pulse]) Cam paern for "cam daa saring poin seing = 200 [pulse]" 0 Time [ms] Cam axis lengh per cycle [pulse] 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod 137

140 Resore operaion a sar of advanced synchronous conrol Cam saring poin is se o "feed curren value = 0 [pulse]". Cam reference posiion becomes "0-200 = -200 [pulse]". Feed curren value [pulse] 0 Cam axis curren value per cycle [pulse] 1000 The esimaed cam paern for "Cam axis curren value per cycle = 0" as he origin is deermined. Time [ms] Cam axis lengh per cycle = 0 [pulse] Cam operaion Feed curren value [pulse] 0 0 Time [ms] Cam operaion sars from 0 poin which is now "Cam reference posiion = -200 [pulse]". Time [ms] -200 Cam axis curren value per cycle [pulse] Time [ms] ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

141 Cam axis feed curren value resoraion If "[Pr.462] Cam axis posiion resoraion objec" is se o "2: Cam axis feed curren value resoraion" when saring synchronous conrol, he cam axis feed curren value is resored based on he cam axis curren value per cycle and he cam reference posiion. Selec he mehod for he cam axis curren value per cycle and he mehod for he cam reference posiion o be resored. [Pr.464] Seing mehod of cam axis curren value per cycle 0: Previous value 1: Iniial seing value of cam axis curren value per cycle 2: Curren value per cycle afer main shaf gear 3: Curren value per cycle afer auxiliary shaf gear [Pr.463] Seing mehod of cam reference posiion 0: Previous value 1: Iniial seing value of cam reference posiion 2: Feed curren value [Md.407] Cam axis curren value per cycle [Md.408] Cam reference posiion The cam axis feed curren value is resored based on he cam axis curren value per cycle and he cam reference posiion. [Md.409] Cam axis feed curren value 5 Cam axis curren value per cycle Cam axis feed curren value Cam reference posiion The cam axis feed curren value moves o is resored value jus afer saring synchronous conrol when he cam axis feed curren value o be resored is differen from he feed curren value a synchronous conrol sar. If he difference is larger han "1600 [pulse]" in pulse command unis, he error "Cam axis feed curren value resoraion disable" (error code: 1C29H) will occur and synchronous conrol canno be sared. Wih cam axis feed curren value resoraion, calculae he cam axis feed curren value wih he cam posiion calculaion funcion ( Page 143 Cam Posiion Calculaion Funcion) or wih synchronous conrol analysis mode ( Page 141 Synchronous Conrol Analysis Mode) before saring synchronous conrol. Then sar synchronous conrol afer posiioning o he correc cam axis feed curren value. Example The following shows an example of saring a cam paern from he zero poin of he cam axis curren value per cycle wih he curren feed curren value posiion as he origin when reurning o a specified poin, or home posiion reurn is compleed afer a forced sop. Seing iem [Pr.439] Cam axis lengh per cycle [Pr.441] Cam sroke amoun [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.467] Cam reference posiion (Iniial seing) [Pr.468] Cam axis curren value per cycle (Iniial seing) Seing value 1000 [pulse] 200 [pulse] 2: Cam axis feed curren value resoraion 2: Feed curren value 1: Iniial seing value of cam axis curren value per cycle None 0 [pulse] 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod 139

142 Move o advanced synchronous conrol saring poin Feed curren value [pulse] Resore operaion Time [ms] Move o he posiion of 150 [pulse] by reurn o cam saring posiion, or by home posiion reurn. Feed curren value [pulse] Sar advanced synchronous conrol. The cam reference posiion (feed curren value = 150 [pulse]) becomes he equivalen for he posiion where "Cam axis curren value per cycle = 0" Cam axis curren value per cycle [pulse] Time [ms] Operaion sars from he posiion "Iniial seing = 0 [pulse]" of he seing mehod of cam axis curren value per cycle. 0 Cam operaion Feed curren value [pulse] 350 Time [ms] Wih he "feed curren value = 150 [pulse]" posiion as he sar poin, he cam operaes for he amoun of "Cam reference posiion + cam sroke amoun" Cam axis curren value per cycle [pulse] Time [ms] The ime when cam axis curren value per cycle is "0 [pulse]" Time [ms] ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

143 5.4 Synchronous Conrol Analysis Mode Wih synchronous conrol analysis mode, advanced synchronous conrol parameers are only analyzed when here is a command o sar synchronous conrol. This mode is used o confirm he synchronous posiions of he oupu axes in order o align axes wih posiion conrol before saring synchronous conrol. If he arge axis bi is ON in "[Cd.381] Synchronous conrol analysis mode" when saring synchronous conrol (urning he arge axis bi from OFF o ON for "[Cd.380] Synchronous conrol sar"), operaion eners synchronous conrol analysis mode. When he synchronizaion posiion analysis is compleed, he synchronous conrol monior daa ([Md.400] o [Md.425]) is updaed, and he arge axis bi in "[Cd.380] Synchronous conrol sar" urns OFF. The busy signal is no urned ON during synchronous conrol analysis mode. When saring synchronous conrol wih synchronous conrol analysis mode, he following error does no occur. Cam axis feed curren value resoraion disable (error code: 1C29H) [Cd.380] Synchronous conrol sar (Targe axis bi) [Cd.381] Synchronous conrol analysis mode (Targe axis bi) Synchronous conrol monior daa ([Md.400] o [Md.425]) Posiioning sar The las monior value Monior value a synchronous conrol sar Sar posiioning on he cam axis feed curren value a he beginning afer checking he arge axis bi of "[Cd.380] Synchronous conrol sar" is OFF. 5 BUSY signal (OFF during analyzing) [Md.26] Axis operaion saus Sandby (0) Analyzing (5) Sandby (0) Sandby (0) Analyzing (5) Synchronous conrol (15) Posiion conrol (8) Check synchronizaion posiion in synchronous conrol analysis mode. Move o he synchronizaion posiion wih posiioning conrol. Sar synchronous conrol Synchronous conrol sysem conrol daa Seing iem Seing deails Seing value Defaul value [Cd.380] Synchronous conrol sar [Cd.381] Synchronous conrol analysis mode Synchronous conrol begins if he arge axis bi is urned ON. Synchronous conrol ends if he bi is urned OFF during synchronous conrol. Fech cycle: Operaion cycle If he arge axis bi is urned ON and synchronous conrol is sared, he analysis is only execued and he conrol does no sar. Fech cycle: A sar of he synchronous conrol For labels, refer o he following. Page 156 Synchronous conrol sysem conrol daa Se he arge axis in 16 bis. (bi0: axis 1 o bi15: axis 16) OFF: Synchronous conrol end ON: Synchronous conrol sar Se he arge axis in 16 bis. (bi0: axis 1 o bi15: axis 16) OFF: Synchronous conrol analysis mode OFF ON: Synchronous conrol analysis mode ON Buffer memory address ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.4 Synchronous Conrol Analysis Mode 141

144 Example The following shows a procedure of aligning he synchronous posiion of an oupu axis ha references he inpu axis. 1. Se he following values in he synchronous conrol iniial posiion parameers. Seing iem [Pr.460] Seing mehod of curren value per cycle afer main shaf gear [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle Seing value 2: Calculae from inpu axis 2: Cam axis feed curren value resoraion 0: Previous value 2: Curren value per cycle afer main shaf gear 2. Turn ON he arge axis bi of "[Cd.381] Synchronous conrol analysis mode", and hen urn he arge axis bi from OFF o ON in "[Cd.380] Synchronous conrol sar" o sar he synchronous conrol analysis mode. 3. Verify he arge axis bi is OFF for "[Cd.380] Synchronous conrol sar", and execue posiioning for he oupu axis o be updaed o "[Md.409] Cam axis feed curren value". 4. Turn OFF he arge axis bi of "[Cd.381] Synchronous conrol analysis mode", and hen urn he arge axis bi from OFF o ON in "[Cd.380] Synchronous conrol sar" o sar synchronous conrol ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.4 Synchronous Conrol Analysis Mode

145 5.5 Cam Posiion Calculaion Funcion The cam posiion is calculaed by he user program wih his funcion. This funcion can be used o calculae he cam posiion for he synchronous conrol iniial posiion before saring synchronous conrol. Example The following shows he procedure for synchronous posiion alignmen, in a synchronous sysem where cam axes 2 and 3 are synchronized wih he cam axis curren value per cycle of axis Calculae he cam axis curren value per cycle using his funcion based on he feed curren value and he cam reference posiion of axis Calculae he cam axis feed curren value of axis 2 wih his funcion based on he cam axis curren value per cycle ha was calculaed in 1). 3. Calculae he cam axis feed curren value of axis 3 wih his funcion based on he cam axis curren value per cycle ha was calculaed in 1) Execue posiioning on axis 2 o he cam axis feed curren value which was calculaed in 2), and also on axis 3 o he cam axis feed curren value which was calculaed in 3). 5. Sar synchronous conrol on axis 1, 2 and 3 wih he feed curren value resoraion mode. Use he cam axis curren value per cycle ha was calculaed in 1) for he cam axis curren value per cycle (Iniial seing). [API library] To calculae he cam axis feed curren value, use he MMC_Conroller::CalcCamCommandPosiion mehod. To calculae he cam axis curren value per cycle, use he MMC_Conroller::CalcCamCommandPosiionPerCycle mehod. Cam posiion calculaion conrol daa Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.612] Cam posiion calculaion reques Se he cam posiion calculaion reques. The Simple Moion board reses he value o "0" auomaically afer compleion of he cam posiion calculaion. Fech cycle: Main cycle *1 Se in decimal. 1: Cam axis feed curren value calculaion reques 2: Cam axis curren value per cycle calculaion reques [Cd.613] Cam posiion calculaion: Cam No. Se he cam No. for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal. 0 o [Cd.614] Cam posiion calculaion: Sroke amoun Se he cam sroke amoun for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal o [Oupu axis posiion unis *2 ] [Cd.615] Cam posiion calculaion: Cam axis lengh per cycle Se he cam axis lengh per cycle for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal. 1 o [Cam axis cycle unis *3 ] [Cd.616] Cam posiion calculaion: Cam reference posiion Se he cam reference posiion for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal o [Oupu axis posiion unis *2 ] [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle Se he cam axis curren value per cycle for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal. 0 o (Cam axis lengh per cycle) [Cam axis cycle unis *3 ] ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion 143

146 Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.618] Cam posiion calculaion: Cam axis feed curren value *1 Wih he excepion of posiioning conrol, main cycle processing is execued during he nex available ime. I changes by saus of axis sar. *2 Oupu axis posiion unis ( Page 110 Unis for he oupu axis) *3 Cam axis cycle unis ( Page 110 Unis for he oupu axis) For labels, refer o he following. Page 161 Cam operaion conrol daa: Cam posiion calculaion [Cd.612] Cam posiion calculaion reques Se he following commands o calculae he cam posiion. Seing value Se he cam axis feed curren value for he cam posiion calculaion. (Se when calculaing he cam axis curren value per cycle.) Fech cycle: A requesing cam posiion calculaion Deails 1 Cam axis feed curren value calculaion reques 2 Cam axis curren value per cycle calculaion reques The resul is sored in "[Md.600] Cam posiion calculaion resul" and he seing value is rese o "0" auomaically afer compleion of cam posiion calculaion. If warnings occur when requesing he cam posiion calculaion, he warning No. is sored in "[Md.24] Axis warning No." of axis 1 and he seing value is rese o "0" auomaically. When a value oher han he reques command values lised above is se, his calculaion does no ge execued and he seing value is rese o "0" auomaically. [Cd.613] Cam posiion calculaion: Cam No. Se he cam No. for he cam posiion calculaion. If 0 is se for he cam No., he cam posiion is calculaed as a linear cam. [Cd.614] Cam posiion calculaion: Sroke amoun Se he cam sroke amoun for he cam posiion calculaion. [Cd.615] Cam posiion calculaion: Cam axis lengh per cycle Se he cam axis lengh per cycle for he cam posiion calculaion. [Cd.616] Cam posiion calculaion: Cam reference posiion Se he cam reference posiion for he cam posiion calculaion. Se in decimal o [Oupu axis posiion unis *2 ] [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle Se he cam axis curren value per cycle for he cam posiion calculaion when calculaing he cam axis feed curren value. Se he cam axis curren value per cycle as he saring poin o search when calculaing he cam axis curren value per cycle and he cam posiion. [Cd.618] Cam posiion calculaion: Cam axis feed curren value Se he cam axis feed curren value for he cam posiion calculaion when calculaing he cam axis curren value per cycle. This is no used when calculaing he cam axis feed curren value ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion

147 Cam posiion calculaion monior daa Monior iem Sorage deails Monior value Buffer memory address [Md.600] Cam posiion calculaion resul The resul of he cam posiion calculaion is sored. Refresh cycle: A cam posiion calculaion compleion Monioring is carried ou in decimal. When calculaing he cam axis feed curren value: o [Oupu axis posiion unis *1 ] When calculaing he cam axis curren value per cycle: 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *2 ] *1 Oupu axis posiion unis ( Page 110 Unis for he oupu axis) *2 Cam axis cycle unis ( Page 110 Unis for he oupu axis) For labels, refer o he following. Page 156 Cam operaion monior daa: Cam posiion calculaion [Md.600] Cam posiion calculaion resul The resul of he cam posiion calculaion is sored. 5 Cam posiion calculaion When calculaing he cam axis feed curren value When calculaing he cam axis curren value per cycle Sorage deails Calculaed value of he cam axis feed curren value is sored. Calculaed value of he cam axis curren value per cycle is sored. The cam reference posiion is no updaed auomaically by he cam posiion calculaion funcion. 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion 145

148 Search for he cam axis curren value per cycle When calculaing he cam axis curren value per cycle using cam daa, he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched using cam daa based on he posiion specified by "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle". The following shows he order of he search for "[Cd.618] Cam posiion calculaion: Cam axis feed curren value". Sroke raio daa forma When "he nh poin of cam daa [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < he n + 1s poin of cam daa", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he nh poin of cam daa. If "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is in he middle of he cam daa and he corresponding posiion is no found unil he las poin of he cam daa, reurn o he 0h poin and search unil he search saring poin. If he corresponding posiion is no found even hough he whole area of he cam daa has been searched, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur in reciprocaed cam paern. For he feed cam, calculaes "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" by he sroke difference and searches again from he 0h poin o he whole range. If he corresponding posiion is no found even hough he search process sars again, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur. Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he 0h poin of cam daa 1 Search order 0 (Cam reference posiion) [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle Search saring poin A he 0h poin Cam axis lengh per cycle [Cam axis cycle unis] Searches unil beween he 255h poin and he 256h poin (las poin) in order of he cam daa beween he 0h poin and he 1s poin and beween he 1s poin and he 2nd poin. A he 256h poin Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he 128h poin of cam daa 2 1 Search order 0 (Cam reference posiion) [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle Search saring poin A he 128h poin Cam axis lengh per cycle [Cam axis cycle unis] A he 0h poin A he 256h poin Searches unil beween he 255h poin and he 256h poin (las poin) in order of he cam daa beween he 128h poin and he 129h poin and beween he 130h poin and he 131h poin ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion

149 If he corresponding posiion is no found unil he las poin of he cam daa, searches from he 0h poin of he cam daa. Searches unil beween he 127h poin and he 128h poin in order of he cam daa beween he 0h poin and he 1s poin and beween he 1s poin and he 2nd poin. Coordinae daa forma (1) The range before he 1s poin of cam daa When he 1s poin of he cam daa is larger han 0 and "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < he 1s poin of cam daa", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he range before he 1s poin of he cam daa. If he corresponding posiion is no found in he range of (1), searches in he range of (2). If he corresponding posiion is no found in he range of (2) eiher, searches in he range of (3). If he corresponding posiion is no found even hough he range of (1) o (3) has been searched, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur in reciprocaed cam paern. For he feed cam, calculaes "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" by he sroke difference and searches again from he 0h poin o he whole range. If he corresponding posiion is no found even hough he search process sars again, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur. 5 Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is se before he 1s poin of cam daa 1 A he 2nd poin 2 3 Search order Search saring poin A he 0h poin 0 (Cam reference posiion) A he 1s poin A he 3rd poin [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle A he 5h poin A he 4h poin (1) (2) (3) Cam axis lengh per cycle [Cam axis cycle unis] Searches from he range of (1). If he corresponding posiion is no found in he range of (1), searches from he 1s poin of he cam daa in he range of (2). (2) The range wihin he cam daa When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < he las poin of cam daa", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he range of he cam daa. When "he nh poin of cam daa [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < he n + 1s poin of cam daa", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he nh poin of cam daa. If "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is in he middle of he cam daa and he corresponding posiion is no found unil he las poin of he cam daa, reurns o he 1s poin and searches unil he search saring poin. If he corresponding posiion is no found in he range of (2), searches in he range of (3). If he corresponding posiion is no found even hough he range of (2) and (3) has been searched, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur in reciprocaed cam paern. For he feed cam, calculaes "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" by he sroke difference and searches again from he 0h poin o he whole range. If he corresponding posiion is no found even hough he search process sars again, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur. 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion 147

150 Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he 1s poin of cam daa Search saring poin A he 1s poin 1 2 A he 2nd poin A he 3rd poin Search order A he 0h poin 0 (Cam reference posiion) [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle A he 5h poin A he 4h poin (1) (2) (3) Cam axis lengh per cycle [Cam axis cycle unis] Searches unil beween he 4h poin and he 5h poin (las poin) in order of he cam daa beween he 1s poin and he 2nd poin and beween he 2nd poin and he 3rd poin. If he corresponding posiion is no found unil he las poin of he cam daa, searches from he range of (3). Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he 3rd poin of cam daa A he 2nd poin Search saring poin Search order A he 1s poin A he 3rd poin A he 0h poin 0 (Cam reference posiion) [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle A he 5h poin A he 4h poin (1) (2) (3) Cam axis lengh per cycle [Cam axis cycle unis] Searches in order of he cam daa beween he 3rd poin and he 4h poin and beween he 4h poin and he 5h poin (las poin). If he corresponding posiion is no found unil he las poin of he cam daa, searches from he 1s poin of he cam daa. If he corresponding posiion is no found in he cam daa beween he 1s poin and he 2nd poin and beween he 2nd poin and he 3rd poin, searches from he range of (3) ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion

151 (3) The range from he las poin of cam daa o he cam axis lengh per cycle When "he las poin of cam daa [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < cam axis lengh per cycle", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he las poin of he cam daa or laer. If he corresponding posiion is no found even hough he range of (3) has been searched, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur in reciprocaed cam paern. For he feed cam, calculaes "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" by he sroke difference and searches again from he 0h poin o he whole range. If he corresponding posiion is no found even hough he search process sars again, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur. Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he las poin of cam daa A he 1s poin A he 2nd poin A he 3rd poin Search saring poin 1 Search order 5 A he 0h poin A he 5h poin 0 (Cam reference posiion) A he 4h poin (1) (2) (3) Searches from he range of (3). Cam axis lengh per cycle [Cam axis cycle unis] [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion 149

152 5.6 Mehod o Resar Synchronous Conrol The relaionship of he synchronous posiion for synchronous conrol is always saved in he Simple Moion board. Synchronous conrol can be resared wihou reurning all axes o heir saring poins by resoring he synchronized relaionship hrough he synchronous conrol iniial posiion parameers ( Page 129 Synchronous Conrol Iniial Posiion Parameers). The reference axis used o resar synchronous conrol is differen for each sysem. The following procedure shows an example of how o resore synchronized values based on he servo inpu axis as reference posiion. Example Resoring 2 oupu axes (axis 2, axis 3) based on he servo inpu axis (axis 1) as he reference posiion. (Press conveyance device) Pressing posiion (Axis 1) Main shaf gear Main shaf gear Y axis of workpiece conveyance (Axis 3) Axis 1 X axis of workpiece conveyance (Axis 2) Procedure for synchronous conrol (firs ime) 1. Execue home posiion reurn for axis 1, 2 and 3, and posiion o he synchronizaion saring poin. 2. Se he synchronous conrol iniial posiion parameers for axis 2 and 3 as follows. Axis 2 Axis 1 Axis 3 Seing iem [Pr.460] Seing mehod of curren value per cycle afer main shaf gear [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion Seing value 2: Calculae from inpu axis 0: Cam axis curren value per cycle resoraion 2: Feed curren value [Pr.468] Cam axis curren value per cycle (Iniial seing) 0 3. Turn ON he bis for axis 2 and 3 in "[Cd.380] Synchronous conrol sar" o sar synchronous conrol. Procedure for resaring synchronous conrol 1. Se he synchronous conrol iniial posiion parameers for axis 2 and 3 as follows. Seing iem [Pr.460] Seing mehod of curren value per cycle afer main shaf gear [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle Seing value 2: Calculae from inpu axis 2: Cam axis feed curren value resoraion 0: Previous value 2: Curren value per cycle afer main shaf gear 2. Turn ON he bis for axes 2 and 3 in "[Cd.381] Synchronous conrol analysis mode", and hen urn ON he bis for axes 2 and 3 in "[Cd.380] Synchronous conrol sar" o execue he synchronous conrol analysis. The analyzed resul is updaed in [Md.400] o [Md.425]. 3. Posiion axes 2 and 3 o "[Md.409] Cam axis feed curren value" which has been updaed in Turn OFF he bis for axes 2 and 3 in "[Cd.381] Synchronous conrol analysis mode", and hen urn ON he bis for axes 2 and 3 in "[Cd.380] Synchronous conrol sar" o sar synchronous conrol ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 5.6 Mehod o Resar Synchronous Conrol

153 APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) The following shows he relaion beween he buffer memory addresses and he various iems. Refer o he following for he lis of general buffer memory addresses. Simple Moion Board User's Manual (Applicaion) Refer o he following for he lis of buffer memory addresses for nework. Simple Moion Board User's Manual (Nework) If a label is used for some differen classes, he class ha is used more frequenly is shown in he following liss. Parameers Servo inpu axis parameers n: Axis No. - 1 Iem Buffer memory address Synchronous encoder axis parameers j: Synchronous encoder axis No. - 1 Label [Pr.300] Servo inpu axis ype n MMC_Axis::SvInpAxPrm.Type [Pr.301] [Pr.302] [Pr.303] [Pr.304] Servo inpu axis smoohing ime consan Servo inpu axis phase compensaion advance ime Servo inpu axis phase compensaion ime consan Servo inpu axis roaion direcion resricion n MMC_Axis::SvInpAxPrm.SmoohingTimeConsan n n MMC_Axis::SvInpAxPrm.PhaseCompensaionAdvanceTime n MMC_Axis::SvInpAxPrm.PhaseCompensaionTimeConsan n MMC_Axis::SvInpAxPrm.RoaionResricion A Iem Buffer memory Label address [Pr.320] Synchronous encoder axis ype j MMC_SyncEncoder::SyncEncAxPrm.Type [Pr.321] Synchronous encoder axis uni j MMC_SyncEncoder::SyncEncAxPrm.Uni seing [Pr.322] Synchronous encoder axis uni conversion: Numeraor j j MMC_SyncEncoder::SyncEncAxPrm.UniConversionNumeraor [Pr.323] [Pr.324] [Pr.325] [Pr.326] [Pr.327] [Pr.328] [Pr.329] Synchronous encoder axis uni conversion: Denominaor Synchronous encoder axis lengh per cycle Synchronous encoder axis smoohing ime consan Synchronous encoder axis phase compensaion advance ime Synchronous encoder axis phase compensaion ime consan Synchronous encoder axis roaion direcion resricion Resoluion of synchronous encoder via buffer memory j j j j MMC_SyncEncoder::SyncEncAxPrm.UniConversionDenominaor MMC_SyncEncoder::SyncEncAxPrm.LenghPerCycle j MMC_SyncEncoder::SyncEncAxPrm.SmoohingTimeConsan j j MMC_SyncEncoder::SyncEncAxPrm.PhaseCompensaionAdvanceTime j MMC_SyncEncoder::SyncEncAxPrm.PhaseCompensaionTimeConsan j MMC_SyncEncoder::SyncEncAxPrm.RoaionResricion j j MMC_SyncEncoder::SyncEncAxPrm.SyncEncViaCPU_Resoluion APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 151

154 Synchronous encoder axis parameers via link device j: Synchronous encoder axis No. - 1 Iem [Pr.710] [Pr.711] [Pr.712] [Pr.713] [Pr.714] [Pr.1010] [Pr.1011] [Pr.1012] [Pr.1013] Synchronous encoder axis: Link device ype Synchronous encoder axis: Link device sar No. Synchronous encoder axis: Link device coun direcion seing Synchronous encoder axis: Ring couner maximum value Synchronous encoder axis: Ring couner minimum value Synchronous encoder axis sar reques: Link device ype Synchronous encoder axis sar reques: Link device sar No. Synchronous encoder axis sar reques: Link device bi specificaion Synchronous encoder axis sar reques: Link device logic seing Buffer memory address Label j MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncAx.Type j MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncAx.FirsNo j MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncAx.CnDirecion j j j j MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncAx.CnMax MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncAx.CnMin j MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncSarReq.Type j MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncSarReq.FirsNo j MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncSarReq.BiSpecifica ion j MMC_CcieSyncEncoder::SyncEncAxPrmViaLinkDev.SyncEncSarReq.LogicSeing Synchronous parameers: Main shaf n: Axis No. - 1 Iem Buffer memory Label address [Pr.400] Main inpu axis No n MMC_Axis::SyncCrlPrm.MainInpuAxisNo [Pr.401] Sub inpu axis No n MMC_Axis::SyncCrlPrm.SubInpuAxisNo [Pr.402] Composie main shaf gear n MMC_Axis::SyncCrlPrm.MainShafComposieGear [Pr.403] Main shaf gear: Numeraor n MMC_Axis::SyncCrlPrm.MainShafGearNumeraor n [Pr.404] Main shaf gear: Denominaor n MMC_Axis::SyncCrlPrm.MainShafGearDenominaor n [Pr.405] Main shaf cluch conrol seing n MMC_Axis::SyncCrlPrm.MainShafCluchConrolMode [Pr.406] Main shaf cluch reference address n MMC_Axis::SyncCrlPrm.MainShafCluchReferencePosiion seing [Pr.407] Main shaf cluch ON address n MMC_Axis::SyncCrlPrm.MainShafCluchOnPosiion n [Pr.408] Movemen amoun before main shaf cluch ON n n MMC_Axis::SyncCrlPrm.MainShafMovemenAmounBeforeCluchOn [Pr.409] Main shaf cluch OFF address n n [Pr.410] Movemen amoun before main shaf cluch OFF n n MMC_Axis::SyncCrlPrm.MainShafCluchOffPosiion MMC_Axis::SyncCrlPrm.MainShafMovemenAmounBeforeCluchOff [Pr.411] Main shaf cluch smoohing mehod n MMC_Axis::SyncCrlPrm.MainShafCluchSmoohMehod [Pr.412] Main shaf cluch smoohing ime n MMC_Axis::SyncCrlPrm.MainShafCluchSmoohTimeConsan consan [Pr.413] Slippage a main shaf cluch ON n MMC_Axis::SyncCrlPrm.MainShafCluchOnSlipAmoun n [Pr.414] Slippage a main shaf cluch OFF n n MMC_Axis::SyncCrlPrm.MainShafCluchOffSlipAmoun 152 APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

155 Synchronous parameers: Auxiliary shaf n: Axis No. - 1 Iem Buffer memory address Label [Pr.418] Auxiliary shaf axis No n MMC_Axis::SyncCrlPrm.AuxShafAxisNo [Pr.419] Composie auxiliary shaf gear n MMC_Axis::SyncCrlPrm.AuxShafComposieGear [Pr.420] Auxiliary shaf gear: Numeraor n n [Pr.421] Auxiliary shaf gear: Denominaor n n MMC_Axis::SyncCrlPrm.AuxShafGearNumeraor MMC_Axis::SyncCrlPrm.AuxShafGearDenominaor [Pr.422] Auxiliary shaf cluch conrol seing n MMC_Axis::SyncCrlPrm.AuxShafCluchConrolMode [Pr.423] Auxiliary shaf cluch reference address seing [Pr.424] Auxiliary shaf cluch ON address n n [Pr.425] Movemen amoun before auxiliary shaf cluch ON n MMC_Axis::SyncCrlPrm.AuxShafCluchReferencePosiion n n [Pr.426] Auxiliary shaf cluch OFF address n n [Pr.427] [Pr.428] [Pr.429] [Pr.430] [Pr.431] Movemen amoun before auxiliary shaf cluch OFF Auxiliary shaf cluch smoohing mehod Auxiliary shaf cluch smoohing ime consan Slippage a auxiliary shaf cluch ON Slippage a auxiliary shaf cluch OFF n n MMC_Axis::SyncCrlPrm.AuxShafCluchOnPosiion MMC_Axis::SyncCrlPrm.AuxShafMovemenAmounBeforeCluchOn MMC_Axis::SyncCrlPrm.AuxShafCluchOffPosiion MMC_Axis::SyncCrlPrm.AuxShafMovemenAmounBeforeCluchOff n MMC_Axis::SyncCrlPrm.AuxShafCluchSmoohMehod n MMC_Axis::SyncCrlPrm.AuxShafCluchSmoohTimeConsan n n n n MMC_Axis::SyncCrlPrm.AuxShafCluchOnSlipAmoun MMC_Axis::SyncCrlPrm.AuxShafCluchOffSlipAmoun Synchronous parameers: Speed change gear n: Axis No. - 1 A Iem Buffer memory address Label [Pr.434] Speed change gear n MMC_Axis::SyncCrlPrm.SpeedChangeGear [Pr.435] Speed change gear smoohing ime consan [Pr.436] Speed change raio: Numeraor n n [Pr.437] Speed change raio: Denominaor n n n MMC_Axis::SyncCrlPrm.SpeedChangeGearSmoohTimeConsan MMC_Axis::SyncCrlPrm.SpeedChangeRaioNumeraor MMC_Axis::SyncCrlPrm.SpeedChangeRaioDenominaor APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 153

156 Synchronous parameers: Oupu axis n: Axis No. - 1 Iem Buffer memory address Label [Pr.438] Cam axis cycle uni seing n MMC_Axis::SyncCrlPrm.CamAxisCycleUni [Pr.439] Cam axis lengh per cycle n n MMC_Axis::SyncCrlPrm.CamAxisLenghPerCycle [Pr.440] Cam No n MMC_Axis::SyncCrlPrm.CamNo [Pr.441] Cam sroke amoun n n [Pr.442] [Pr.444] [Pr.445] [Pr.446] [Pr.447] Cam axis lengh per cycle change seing Cam axis phase compensaion advance ime Cam axis phase compensaion ime consan Synchronous conrol deceleraion ime Oupu axis smoohing ime consan MMC_Axis::SyncCrlPrm.CamSrokeAmoun n MMC_Axis::SyncCrlPrm.CamAxisLenghPerCycleChangeMode n n Synchronous parameers: Synchronous conrol iniial posiion n: Axis No. - 1 MMC_Axis::SyncCrlPrm.CamAxisPhaseCompensaionAdvanceTime n MMC_Axis::SyncCrlPrm.CamAxisPhaseCompensaionTimeConsan n MMC_Axis::SyncCrlPrm.SyncCrlDeceleraionTime n MMC_Axis::SyncCrlPrm.OupuAxisSmoohTimeConsan Iem Buffer memory Label address [Pr.460] Seing mehod of curren value per n MMC_Axis::SyncCrlPrm.MainShafGearPosiionPerCycleMode cycle afer main shaf gear [Pr.461] Seing mehod of curren value per n MMC_Axis::SyncCrlPrm.AuxShafGearPosiionPerCycleMode cycle afer auxiliary shaf gear [Pr.462] Cam axis posiion resoraion objec n MMC_Axis::SyncCrlPrm.CamPosiionResoraionMode [Pr.463] Seing mehod of cam reference n MMC_Axis::SyncCrlPrm.CamReferencePosiionMode posiion [Pr.464] Seing mehod of cam axis curren n MMC_Axis::SyncCrlPrm.CamPosiionPerCycleMode value per cycle [Pr.465] Curren value per cycle afer main shaf gear (Iniial seing) n n MMC_Axis::SyncCrlPrm.MainShafGearIniialPosiionPerCycle [Pr.466] [Pr.467] [Pr.468] Curren value per cycle afer auxiliary shaf gear (Iniial seing) Cam reference posiion (Iniial seing) Cam axis curren value per cycle (Iniial seing) n n n n n n MMC_Axis::SyncCrlPrm.AuxShafGearIniialPosiionPerCycle MMC_Axis::SyncCrlPrm.CamIniialReferencePosiion MMC_Axis::SyncCrlPrm.CamIniialPosiionPerCycle 154 APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

157 Monior daa Servo inpu axis monior daa n: Axis No. - 1 Iem Buffer memory address [Md.300] Servo inpu axis curren value n n [Md.301] Servo inpu axis speed n n [Md.302] [Md.303] Servo inpu axis phase compensaion amoun Servo inpu axis roaion direcion resricion amoun n n n n Label MMC_Axis::SvInpAxMnr.CommandPosiion MMC_Axis::SvInpAxMnr.Speed MMC_Axis::SvInpAxMnr.PhaseCompensaionAmoun MMC_Axis::SvInpAxMnr.RoaionResricionAmoun Synchronous encoder axis monior daa j: Synchronous encoder axis No. - 1 Iem [Md.320] [Md.321] Synchronous encoder axis curren value Synchronous encoder axis curren value per cycle Buffer memory address j j j j [Md.322] Synchronous encoder axis speed j j [Md.323] [Md.324] Synchronous encoder axis phase compensaion amoun Synchronous encoder axis roaion direcion resricion amoun j j j j Label MMC_SyncEncoder::SyncEncAxMnr.CommandPosiion MMC_SyncEncoder::SyncEncAxMnr.CommandPosiionPerCycle MMC_SyncEncoder::SyncEncAxMnr.Speed MMC_SyncEncoder::SyncEncAxMnr.PhaseCompensaionAmoun MMC_SyncEncoder::SyncEncAxMnr.RoaionResricionAmoun [Md.325] Synchronous encoder axis saus j MMC_SyncEncoder::SyncEncAxMnr.Saus [Md.326] [Md.327] b0 Seing valid flag MMC_SyncEncoder::SyncEncAxMnr.Saus_SeingValid b1 Connecing valid flag MMC_SyncEncoder::SyncEncAxMnr.Saus_ConnecingValid b2 Couner enable flag MMC_SyncEncoder::SyncEncAxMnr.Saus_CounerEnable b3 Curren value seing MMC_SyncEncoder::SyncEncAxMnr.Saus_CurrenValueSeReques reques flag b4 Error deecion flag MMC_SyncEncoder::SyncEncAxMnr.Saus_Error b5 Warning deecion flag MMC_SyncEncoder::SyncEncAxMnr.Saus_Warning b6 Sar reques flag MMC_SyncEncoder::SyncEncAxMnr.Saus_SarReques Synchronous encoder axis error j MMC_SyncEncoder::SyncEncAxMnr.ErrorNo No. Synchronous encoder axis warning j MMC_SyncEncoder::SyncEncAxMnr.WarningNo No. A Synchronous conrol monior daa n: Axis No. - 1 Iem [Md.400] [Md.401] [Md.402] [Md.406] Curren value afer composie main shaf gear Curren value per cycle afer main shaf gear Curren value per cycle afer auxiliary shaf gear Cam axis phase compensaion amoun Buffer memory address n n n n n n n n [Md.407] Cam axis curren value per cycle n n [Md.408] Cam reference posiion n n Label MMC_Axis::SyncCrlMnr.MainShafComposieGearPosiion MMC_Axis::SyncCrlMnr.MainShafGearPosiionPerCycle MMC_Axis::SyncCrlMnr.AuxShafGearPosiionPerCycle MMC_Axis::SyncCrlMnr.CamPhaseCompensaionAmoun MMC_Axis::SyncCrlMnr.CamPosiionPerCycle MMC_Axis::SyncCrlMnr.CamReferencePosiion APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 155

158 Iem Buffer memory Label address [Md.409] Cam axis feed curren value n MMC_Axis::SyncCrlMnr.CamCommandPosiion n [Md.410] Execue cam No n MMC_Axis::SyncCrlMnr.CurrenCamNo [Md.411] Execue cam sroke amoun n MMC_Axis::SyncCrlMnr.CurrenCamSrokeAmoun n [Md.412] Execue cam axis lengh per cycle n MMC_Axis::SyncCrlMnr.CurrenCamAxisLenghPerCycle n [Md.420] Main shaf cluch ON/OFF saus n MMC_Axis::SyncCrlMnr.MainShafCluchSaus [Md.421] Main shaf cluch smoohing saus n MMC_Axis::SyncCrlMnr.MainShafCluchSmoohingSaus [Md.422] Main shaf cluch slippage (accumulaive) n n MMC_Axis::SyncCrlMnr.MainShafCluchAccumulaiveSlippage [Md.423] [Md.424] [Md.425] Auxiliary shaf cluch ON/OFF saus Auxiliary shaf cluch smoohing saus Auxiliary shaf cluch slippage (accumulaive) n MMC_Axis::SyncCrlMnr.AuxShafCluchSaus n MMC_Axis::SyncCrlMnr.AuxShafCluchSmoohingSaus n n Cam operaion monior daa: Cam posiion calculaion MMC_Axis::SyncCrlMnr.AuxShafCluchAccumulaiveSlippage Iem [Md.600] Cam posiion calculaion resul Buffer memory address Label MMC_Conroller::CamCalculaion.Mnr.Resul Conrol daa Synchronous conrol sysem conrol daa Iem Buffer memory address Synchronous encoder axis conrol daa j: Synchronous encoder axis No. - 1 Label [Cd.380] Synchronous conrol sar MMC_Axis::SynchronousConrolSar [Cd.381] Synchronous conrol analysis mode MMC_Axis::SynchronousConrolAnalysisMode Iem [Cd.320] [Cd.321] [Cd.322] [Cd.323] [Cd.324] [Cd.325] Synchronous encoder axis conrol sar Synchronous encoder axis conrol mehod Synchronous encoder axis curren value seing address Synchronous encoder axis error rese Connecion command of synchronous encoder via buffer memory Inpu value for synchronous encoder via buffer memory Buffer memory address Label j MMC_SyncEncoder::SyncEncAxCrl.SarConrol j MMC_SyncEncoder::SyncEncAxCrl.ConrolMehod j j MMC_SyncEncoder::SyncEncAxCrl.NewPosiion j MMC_SyncEncoder::SyncEncAxCrl.ReseError j MMC_SyncEncoder::SyncEncAxCrl.EnableSyncEncViaCPU j j MMC_SyncEncoder::SyncEncAxCrl.SyncEncViaCPU_InpuValue 156 APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

159 Conrol daa for synchronous conrol n: Axis No. - 1 Iem Buffer memory address [Cd.400] Main shaf cluch command n MMC_Axis::SyncCrlAxCrl.CommandMainShafCluch [Cd.401] Main shaf cluch conrol invalid n MMC_Axis::SyncCrlAxCrl.CommandMainShafCluchInvalid command [Cd.402] Main shaf cluch forced OFF n MMC_Axis::SyncCrlAxCrl.CommandMainShafCluchForcedOff command [Cd.403] Auxiliary shaf cluch command n MMC_Axis::SyncCrlAxCrl.CommandAuxShafCluch [Cd.404] Auxiliary shaf cluch conrol invalid n MMC_Axis::SyncCrlAxCrl.CommandAuxShafCluchInvalid command [Cd.405] Auxiliary shaf cluch forced OFF n MMC_Axis::SyncCrlAxCrl.CommandAuxShafCluchForcedOff command [Cd.406] Synchronous conrol change n MMC_Axis::SyncCrlAxCrl.RequesSyncCrlChange reques [Cd.407] Synchronous conrol change n MMC_Axis::SyncCrlAxCrl.SyncCrlChangeCommand command [Cd.408] Synchronous conrol change value n MMC_Axis::SyncCrlAxCrl.SyncCrlChangeValue n [Cd.409] Synchronous conrol reflecion ime n MMC_Axis::SyncCrlAxCrl.SyncCrlReflecionTime Label Cam operaion conrol daa: Cam daa operaion Iem Buffer memory address Label [Cd.600] Cam daa operaion reques MMC_Conroller::CamOperaion.Reques [Cd.601] Operaion cam No MMC_Conroller::CamOperaion.CamNo [Cd.602] Cam daa firs posiion MMC_Conroller::CamOperaion.FirsPosiion [Cd.603] Number of cam daa operaion poins MMC_Conroller::CamOperaion.Size [Cd.604] Cam daa forma MMC_Conroller::CamOperaion.Forma [Cd.605] Cam resoluion/coordinae number MMC_Conroller::CamOperaion.CamResoluion [Cd.606] Cam daa saring poin MMC_Conroller::CamOperaion.SaringPoin [Cd.607] Cam daa value Sroke raio o MMC_EM340GF::ExCamDaa.SrokeRaioDaa[0].Value MMC_EM340GF::ExCamDaa.SrokeRaioDaa[32767].Value Inpu value Oupu value Cam for roary cuer (cenral reference) daa Easy sroke raio cam daa Advanced sroke raio cam daa MMC_EM340GF::ExCamDaa.CoordinaeDaa[0].InpuValue MMC_EM340GF::ExCamDaa.CoordinaeDaa[65534].InpuValue MMC_EM340GF::ExCamDaa.CoordinaeDaa[0].OupuValue MMC_EM340GF::ExCamDaa.CoordinaeDaa[65534].OupuValue *1 *2 *3 A *1 The iem deails when "102: Cam auo-generaion daa forma for roary cuer cam (Cenral reference)" is seleced in "[Cd.604] Cam daa forma" are shown below. Cam for roary cuer (cenral reference) daa Deails Resoluion Buffer memory address Label MMC_EM340GF::ExCamDaa.RoaryCuer.Resoluion Auo-generaion opion MMC_EM340GF::ExCamDaa.RoaryCuer.Opion Synchronous secion acceleraion raio MMC_EM340GF::ExCamDaa.RoaryCuer.SyncSecionAcceleraionRaio APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 157

160 Deails Shee lengh Shee synchronizaion widh Synchronous axis lengh Synchronous posiion adjusmen Acceleraion/deceleraion widh MMC_EM340GF::ExCamDaa.RoaryCuer.SheeLengh MMC_EM340GF::ExCamDaa.RoaryCuer.SheeSyncWidh MMC_EM340GF::ExCamDaa.RoaryCuer.SyncAxisLengh MMC_EM340GF::ExCamDaa.RoaryCuer.SyncPoinAdjusmen MMC_EM340GF::ExCamDaa.RoaryCuer.AcceleraionWidh Number of cuer MMC_EM340GF::ExCamDaa.RoaryCuer.CuerNum Asynchronous speed resul MMC_EM340GF::ExCamDaa.RoaryCuer.AsyncSpeedResul *2 The iem deails when "103: Cam auo-generaion daa forma for easy sroke raio cam" is seleced in "[Cd.604] Cam daa forma" are shown below. Easy sroke raio cam daa Deails Resoluion Cam axis lengh per cycle Cam daa saring poin Buffer memory address Label MMC_EM340GF::ExCamDaa.SimpleSroke.Resoluion MMC_EM340GF::ExCamDaa.SimpleSroke.CamAxisLenghPerCycle MMC_EM340GF::ExCamDaa.SimpleSroke.SaringPoin Number of secions MMC_EM340GF::ExCamDaa.SimpleSroke.SecionNum Secion 1 Cam curve ype MMC_EM340GF::ExCamDaa.SimpleSroke.SimpleSecion[0].CurveType End poin Sroke Secion 32 MMC_EM340GF::ExCamDaa.SimpleSroke.SimpleSecion[0].EndPoin MMC_EM340GF::ExCamDaa.SimpleSroke.SimpleSecion[0].Sroke Cam curve ype MMC_EM340GF::ExCamDaa.SimpleSroke.SimpleSecion[31].CurveType End poin Sroke MMC_EM340GF::ExCamDaa.SimpleSroke.SimpleSecion[31].EndPoin MMC_EM340GF::ExCamDaa.SimpleSroke.SimpleSecion[31].Sroke *3 The iem deails when "104: Cam auo-generaion daa forma for advanced sroke raio cam" is seleced in "[Cd.604] Cam daa forma" are shown below. Advanced sroke raio cam daa Deails Resoluion Cam axis lengh per cycle Cam sroke amoun Buffer memory address Label MMC_EM340GF::ExCamDaa.DeailsSroke.Resoluion MMC_EM340GF::ExCamDaa.DeailsSroke.CamAxisLenghPerCycle MMC_EM340GF::ExCamDaa.DeailsSroke.CamSrokeAmoun Uni seing MMC_EM340GF::ExCamDaa.DeailsSroke.Uni Cam daa saring poin Buffer memory address Label MMC_EM340GF::ExCamDaa.DeailsSroke.SaringPoin Number of secions MMC_EM340GF::ExCamDaa.DeailsSroke.SecionNum 158 APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

161 Deails Secion 1 Cam curve ype MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[0].CurveType Secion 1 End poin Sroke Curve applicable range (P1) Curve applicable range (P2) Acceleraion/ deceleraion range compensaion (Range L1) Acceleraion/ deceleraion range compensaion (Range L2) Secion 360 Cam operaion conrol daa: Cam auo-generaion MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[0].EndPoin MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[0].Sroke MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[0].CurveScopeP MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[0].CurveScopeP MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[0].AcceleraionRangeCompensaionL MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[0].AcceleraionRangeCompensaionL 2 Cam curve ype MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[359].CurveType End poin Sroke Curve applicable range (P1) Curve applicable range (P2) Acceleraion/ deceleraion range compensaion (Range L1) Acceleraion/ deceleraion range compensaion (Range L2) Buffer memory address Label MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[359].EndPoin MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[359].Sroke MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[359].CurveScopeP MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[359].CurveScopeP MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[359].AcceleraionRangeCompensaio nl MMC_EM340GF::ExCamDaa.DeailsSroke.DeailsSecion[359].AcceleraionRangeCompensaio nl2 A Iem Buffer memory address Label [Cd.608] Cam auo-generaion reques MMC_EM340GF::ExAuomaicCam.Reques [Cd.609] Cam auo-generaion cam No MMC_EM340GF::ExAuomaicCam.CamNo [Cd.610] Cam auo-generaion ype MMC_EM340GF::ExAuomaicCam.Type [Cd.611] Cam auogeneraion daa Cam auo-generaion daa for roary cuer (cenral reference) o *1 Easy sroke raio cam daa for auogeneraion Advanced sroke raio cam daa for auogeneraion *2 *3 APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 159

162 *1 The iem deails when "2: Cam for roary cuer (Cenral reference)" is seleced in "[Cd.610] Cam auo-generaion ype" are shown below. Cam auo-generaion daa for roary cuer (cenral reference) Deails Resoluion Buffer memory address Label MMC_EM340GF::ExAuomaicCam.RoaryCuer.Resoluion Auo-generaion opion MMC_EM340GF::ExAuomaicCam.RoaryCuer.Opion Synchronous secion acceleraion raio Shee lengh Shee synchronizaion widh Synchronous axis lengh Synchronous posiion adjusmen Acceleraion/deceleraion widh MMC_EM340GF::ExAuomaicCam.RoaryCuer.SyncSecionAcceleraionRaio MMC_EM340GF::ExAuomaicCam.RoaryCuer.SheeLengh MMC_EM340GF::ExAuomaicCam.RoaryCuer.SheeSyncWidh MMC_EM340GF::ExAuomaicCam.RoaryCuer.SyncAxisLengh MMC_EM340GF::ExAuomaicCam.RoaryCuer.SyncPoinAdjusmen MMC_EM340GF::ExAuomaicCam.RoaryCuer.AcceleraionWidh Number of cuer MMC_EM340GF::ExAuomaicCam.RoaryCuer.CuerNum Asynchronous speed resul MMC_EM340GF::ExAuomaicCam.RoaryCuer.AsyncSpeedResul *2 The iem deails when "3: Easy sroke raio cam" is seleced in "[Cd.610] Cam auo-generaion ype" are shown below. Easy sroke raio cam daa for auo-generaion Deails Resoluion Cam axis lengh per cycle Cam daa saring poin Buffer memory address Label MMC_EM340GF::ExAuomaicCam.SimpleSroke.Resoluion MMC_EM340GF::ExAuomaicCam.SimpleSroke.CamAxisLenghPerCycle MMC_EM340GF::ExAuomaicCam.SimpleSroke.SaringPoin Number of secions MMC_EM340GF::ExAuomaicCam.SimpleSroke.SecionNum Secion 1 Cam curve ype MMC_EM340GF::ExAuomaicCam.SimpleSroke.SimpleSecion[0].CurveType End poin Sroke Secion 32 MMC_EM340GF::ExAuomaicCam.SimpleSroke.SimpleSecion[0].EndPoin MMC_EM340GF::ExAuomaicCam.SimpleSroke.SimpleSecion[0].Sroke *3 The iem deails when "4: Advanced sroke raio cam" is seleced in "[Cd.610] Cam auo-generaion ype" are shown below. Advanced sroke raio cam daa for auo-generaion Deails Cam curve ype MMC_EM340GF::ExAuomaicCam.SimpleSroke.SimpleSecion[31].CurveType End poin Sroke Resoluion Cam axis lengh per cycle Cam sroke amoun Buffer memory address MMC_EM340GF::ExAuomaicCam.SimpleSroke.SimpleSecion[31].EndPoin MMC_EM340GF::ExAuomaicCam.SimpleSroke.SimpleSecion[31].Sroke Label MMC_EM340GF::ExAuomaicCam.DeailsSroke.Resoluion MMC_EM340GF::ExAuomaicCam.DeailsSroke.CamAxisLenghPerCycle MMC_EM340GF::ExAuomaicCam.DeailsSroke.CamSrokeAmoun Uni seing MMC_EM340GF::ExAuomaicCam.DeailsSroke.Uni Cam daa saring poin MMC_EM340GF::ExAuomaicCam.DeailsSroke.SaringPoin Number of secions MMC_EM340GF::ExAuomaicCam.DeailsSroke.SecionNum 160 APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

163 Deails Secion 1 Cam curve ype MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[0].CurveType End poin Sroke Curve applicable range (P1) Curve applicable range (P2) Acceleraion/ deceleraion range compensaion (Range L1) Acceleraion/ deceleraion range compensaion (Range L2) Secion 360 Cam operaion conrol daa: Cam posiion calculaion MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[0].EndPoin MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[0].Sroke MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[0].CurveScopeP MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[0].CurveScopeP MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[0].AcceleraionRangeCompensa ionl MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[0].AcceleraionRangeCompensa ionl2 Cam curve ype MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[359].CurveType End poin Sroke Curve applicable range (P1) Curve applicable range (P2) Acceleraion/ deceleraion range compensaion (Range L1) Acceleraion/ deceleraion range compensaion (Range L2) Buffer memory address Label MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[359].EndPoin MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[359].Sroke MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[359].CurveScopeP MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[359].CurveScopeP MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[359].AcceleraionRangeCompen saionl MMC_EM340GF::ExAuomaicCam.DeailsSroke.DeailsSecion[359].AcceleraionRangeCompen saionl2 A Iem Buffer memory address Label [Cd.612] Cam posiion calculaion reques MMC_Conroller::CamCalculaion.Crl.Reques [Cd.613] Cam posiion calculaion: Cam No MMC_Conroller::CamCalculaion.Crl.CamNo [Cd.614] [Cd.615] [Cd.616] [Cd.617] [Cd.618] Cam posiion calculaion: Sroke amoun Cam posiion calculaion: Cam axis lengh per cycle Cam posiion calculaion: Cam reference posiion Cam posiion calculaion: Cam axis curren value per cycle Cam posiion calculaion: Cam axis feed curren value MMC_Conroller::CamCalculaion.Crl.Sroke MMC_Conroller::CamCalculaion.Crl.LenghPerCycle MMC_Conroller::CamCalculaion.Crl.ReferencePosiion MMC_Conroller::CamCalculaion.Crl.CommandPosiionPerCycle MMC_Conroller::CamCalculaion.Crl.CommandPosiion APPX Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 161

164 Appendix 2 Sample Program of Synchronous Conrol The following shows a sample program of execuing synchronous conrol on he axis 1 wih he axis 4 as an inpu axis. (The axis 4 is configured as he virual servo amplifier.) 1. Selec he Navigaion window "Sysem Seing" "CC IE Field Configuraion", hen se MR-J4-GF on he axis 1 and he axis Selec he Navigaion window "Parameer", hen se "1: Use as Virual Servo Amplifier" on he axis 4 in "Pr.101: Virual servo amplifier seing". 3. Selec he Navigaion window "Synchronous Conrol Parameer" "Inpu Axis Parameer", hen se "1: Feed Curren Value" on he axis 4 in "Pr.300: Servo inpu axis ype". 162 APPX Appendix 2 Sample Program of Synchronous Conrol

165 4. Selec he Navigaion window "Cam Daa" and righ-click [Add New Daa], hen creae he cam daa (cam No.1). 5. Selec he Navigaion window "Synchronous Conrol Parameer" "Synchronous Parameer" "Axis #1 Synchronous Parameer", hen se he synchronous parameer of he axis 1. A 6. Creae he user program o sar synchronous conrol. Refer o he following manual and creae he user program before he servo ON separaely. Simple Moion Board User's Manual (Sarup) Classificaion Mehod name Descripion Mehod MMC_Axis::SarSync Sars he synchronous conrol. MMC_Axis::SarJog MMC_Axis::SopJog MMC_Axis::WaiPosiioningDone MMC_Axis::SopSync Sars he JOG operaion. Sops he JOG operaion. Wais unill he posiioning conrol is compleed. Complees he synchronous conrol. APPX Appendix 2 Sample Program of Synchronous Conrol 163