Справочник Пользователя для Mitsubishi Electronics MR-MC241
8 - 29
8. TANDEM DRIVE
8.5 Servo on and servo off during tandem drive axis operation
(1) Synchronous mode
When the master axis servo on signal (SON) and slave axis servo on signal (SON) are turned on, the both
axes are turned on. Also, when the servo on signal (SON) for either the master axis or the slave axis is
turned off, both axes are turned servo off.
axes are turned on. Also, when the servo on signal (SON) for either the master axis or the slave axis is
turned off, both axes are turned servo off.
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
OFF
Servo on (SON)
(master axis)
(master axis)
Servo on (SON)
(slave axis)
(slave axis)
Servo ready (RDY)
(master axis)
(master axis)
Servo ready (RDY)
(slave axis)
(slave axis)
When an axis has moved while the servo off, the current command position is updated in accordance with
the movement amount (Current feedback position) both for the master axis and for the slave axis.
When there is a misalignment between the master axis and slave axis at the servo on, synchronous
alignment is performed by aligning the command for the slave axis with the one for the master axis.
During synchronous alignment, "synchronizing" status signal (SYEO : is the group number) turns on.
After confirming the "synchronizing" status signal is off, perform the start operation.
However under the following conditions, the tandem drive synchronous alignment error (operation alarm 58,
detail 01) occurs and synchronization is canceled. After the cause for the alarm is removed, turn the servo
off and then on to perform synchronization again. When automatic operation or linear interpolation is
performed with synchronization incomplete, the tandem drive synchronous alignment error (operation error
58, detail 02) occurs.
the movement amount (Current feedback position) both for the master axis and for the slave axis.
When there is a misalignment between the master axis and slave axis at the servo on, synchronous
alignment is performed by aligning the command for the slave axis with the one for the master axis.
During synchronous alignment, "synchronizing" status signal (SYEO : is the group number) turns on.
After confirming the "synchronizing" status signal is off, perform the start operation.
However under the following conditions, the tandem drive synchronous alignment error (operation alarm 58,
detail 01) occurs and synchronization is canceled. After the cause for the alarm is removed, turn the servo
off and then on to perform synchronization again. When automatic operation or linear interpolation is
performed with synchronization incomplete, the tandem drive synchronous alignment error (operation error
58, detail 02) occurs.
(a) If the deviation between the master axes command position and the slave axis command position
exceeds the tandem drive synchronous alignment valid width (parameter No.0266), the tandem drive
synchronous alignment valid width error (operation alarm 54, detail 01) occurs.
synchronous alignment valid width error (operation alarm 54, detail 01) occurs.
(b) If a stop command (STP, RSTP) is input while synchronizing, the tandem drive synchronous alignment
error (operation alarm 58, detail 01) occurs.