MELSEC iQ-R Motion Controller

Programming Manual
(Advanced Synchronous Control)

-R16MTCPU
-R32MTCPU
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle
the product correctly.
The precautions given in this manual are concerned with this product only. Refer to the user's manual of the CPU module to
use for a description of the PLC system safety precautions.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".

Indicates that incorrect handling may cause hazardous conditions, resulting in

WARNING death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in

CAUTION minor or moderate injury or property damage.

Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious
consequences.
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.

[Design Precautions]
WARNING
● Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
(1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting
operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured
external to the programmable controller.
(2) When the programmable controller detects an abnormal condition, it stops the operation and all
outputs are:
• Turned off if the overcurrent or overvoltage protection of the power supply module is activated.
• Held or turned off according to the parameter setting if the self-diagnostic function of the CPU
module detects an error such as a watchdog timer error.
(3) Also, all outputs may be turned on if an error occurs in a part, such as an I/O control part, where
the CPU module cannot detect any error. To ensure safety operation in such a case, provide a
safety mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe
circuit example, refer to the user's manual of the CPU module to use.
(4) Outputs may remain on or off due to a failure of a component such as a relay and transistor in an
output circuit. Configure an external circuit for monitoring output signals that could cause a
serious accident.
● In an output circuit, when a load current exceeding the rated current or an overcurrent caused by a
load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an
external safety circuit, such as a fuse.
● Configure a circuit so that the programmable controller is turned on first and then the external power
supply. If the external power supply is turned on first, an accident may occur due to an incorrect output
or malfunction.
● For the operating status of each station after a communication failure, refer to manuals relevant to the
network. Incorrect output or malfunction due to a communication failure may result in an accident.

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 [Design Precautions]
WARNING
● When connecting an external device with a CPU module or intelligent function module to modify data
of a running programmable controller, configure an interlock circuit in the program to ensure that the
entire system will always operate safely. For other forms of control (such as program modification,
parameter change, forced output, or operating status change) of a running programmable controller,
read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper
operation may damage machines or cause accidents.
● Especially, when a remote programmable controller is controlled by an external device, immediate
action cannot be taken if a problem occurs in the programmable controller due to a communication
failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions
to be taken between the external device and CPU module in case of a communication failure.
● Do not write any data to the "system area" and "write-protect area" of the buffer memory in the
module. Also, do not use any "use prohibited" signals as an output signal from the CPU module to
each module. Doing so may cause malfunction of the programmable controller system. For the
"system area", "write-protect area", and the "use prohibited" signals, refer to the user's manual for the
module used.
● If a communication cable is disconnected, the network may be unstable, resulting in a communication
failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire
system will always operate safely even if communications fail. Failure to do so may result in an
accident due to an incorrect output or malfunction.
● To maintain the safety of the programmable controller system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.
● Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
● If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier
and servomotor, make sure that the safety standards are satisfied.
● Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the
module or servo amplifier differs from the safety directive operation in the system.
● Do not remove the SSCNET cable while turning on the control circuit power supply of modules and
servo amplifier. Do not see directly the light generated from SSCNET connector of the module or
servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel
something wrong with eyes. (The light source of SSCNET complies with class1 defined in JISC6802
or IEC60825-1.)

2
[Design Precautions]
CAUTION
● Do not install the control lines or communication cables together with the main circuit lines or power
cables. Keep a distance of 100 mm or more between them. Failure to do so may result in malfunction
due to noise.
● During control of an inductive load such as a lamp, heater, or solenoid valve, a large current
(approximately ten times greater than normal) may flow when the output is turned from off to on.
Therefore, use a module that has a sufficient current rating.
● After the CPU module is powered on or is reset, the time taken to enter the RUN status varies
depending on the system configuration, parameter settings, and/or program size. Design circuits so
that the entire system will always operate safely, regardless of the time.
● Do not power off the programmable controller or do not reset the CPU module during the setting
registration. Doing so will make the data in the flash ROM undefined. The data need to be set in the
buffer memory and to be written to the flash ROM again. Doing so may cause malfunction or failure of
the module.
● When changing the operating status of the CPU module from external devices (such as remote RUN/
STOP), select "Do Not Open by Program" for "Opening Method" in the module parameters. If "Open
by Program" is selected, an execution of remote STOP causes the communication line to close.
Consequently, the CPU module cannot reopen the communication line, and external devices cannot
execute the remote RUN.

[Installation Precautions]
WARNING
● Shut off the external power supply (all phases) used in the system before mounting or removing the
module. Failure to do so may result in electric shock or cause the module to fail or malfunction.

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 [Installation Precautions]
CAUTION
● Use the programmable controller in an environment that meets the general specifications in the
manual "Safety Guidelines" included in the base unit. Failure to do so may result in electric shock, fire,
malfunction, or damage to or deterioration of the product.
● To mount a module, place the concave part(s) located at the bottom onto the guide(s) of the base unit,
and push in the module until the hook(s) located at the top snaps into place. Incorrect mounting may
cause malfunction, failure, or drop of the module.
● When using the programmable controller in an environment of frequent vibrations, fix the module with
a screw.
● Tighten the screws within the specified torque range. Undertightening can cause drop of the screw,
short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop,
short circuit, or malfunction.
● When using an extension cable, connect it to the extension cable connector of the base unit securely.
Check the connection for looseness. Poor contact may cause incorrect input or output.
● When using an SD memory card, fully insert it into the memory card slot. Check that it is inserted
completely. Poor contact may cause malfunction.
● Securely insert an extended SRAM cassette into the cassette connector of a CPU module. After
insertion, close the cassette cover and check that the cassette is inserted completely. Poor contact
may cause malfunction.
● Do not directly touch any conductive parts and electronic components of the module, SD memory
card, extended SRAM cassette, or connector. Doing so may cause malfunction or failure of the
module.

[Wiring Precautions]
WARNING
● Shut off the external power supply (all phases) used in the system before installation and wiring.
Failure to do so may result in electric shock or damage to the product.
● After installation and wiring, attach the included terminal cover to the module before turning it on for
operation. Failure to do so may result in electric shock.

4
[Wiring Precautions]
CAUTION
● Individually ground the FG and LG terminals of the programmable controller with a ground resistance
of 100 ohm or less. Failure to do so may result in electric shock or malfunction.
● Use applicable solderless terminals and tighten them within the specified torque range. If any spade
solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in
failure.
● Check the rated voltage and signal layout before wiring to the module, and connect the cables
correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause fire
or failure.
● Connectors for external devices or coaxial cables must be crimped or pressed with the tool specified
by the manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit,
fire, or malfunction.
● Securely connect the connector to the module. Poor contact may cause malfunction.
● Do not install the control lines or communication cables together with the main circuit lines or power
cables. Keep a distance of 100 mm or more between them. Failure to do so may result in malfunction
due to noise.
● Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled,
resulting in damage to the module or cables or malfunction due to poor contact. Do not clamp the
extension cables with the jacket stripped.
● Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an
incorrect interface) may cause failure of the module and external device.
● Tighten the terminal screws or connector screws within the specified torque range. Undertightening
can cause drop of the screw, short circuit, fire, or malfunction. Overtightening can damage the screw
and/or module, resulting in drop, short circuit, fire, or malfunction.
● When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable
with connector, hold the connector part of the cable. For the cable connected to the terminal block,
loosen the terminal screw. Pulling the cable connected to the module may result in malfunction or
damage to the module or cable.
● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can
cause a fire, failure, or malfunction.
● A protective film is attached to the top of the module to prevent foreign matter, such as wire chips,
from entering the module during wiring. Do not remove the film during wiring. Remove it for heat
dissipation before system operation.
● Programmable controllers must be installed in control panels. Connect the main power supply to the
power supply module in the control panel through a relay terminal block. Wiring and replacement of a
power supply module must be performed by qualified maintenance personnel with knowledge of
protection against electric shock. For wiring, refer to the MELSEC iQ-R Module Configuration Manual.
● For Ethernet cables to be used in the system, select the ones that meet the specifications in the user's
manual for the module used. If not, normal data transmission is not guaranteed.

5
 [Startup and Maintenance Precautions]
WARNING
● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.
● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or
throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the
battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
● Shut off the external power supply (all phases) used in the system before cleaning the module or
retightening the terminal screws, connector screws, or module fixing screws. Failure to do so may
result in electric shock or cause the module to fail or malfunction.

[Startup and Maintenance Precautions]

CAUTION
● When connecting an external device with a CPU module or intelligent function module to modify data
of a running programmable controller, configure an interlock circuit in the program to ensure that the
entire system will always operate safely. For other forms of control (such as program modification,
parameter change, forced output, or operating status change) of a running programmable controller,
read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper
operation may damage machines or cause accidents.
● Especially, when a remote programmable controller is controlled by an external device, immediate
action cannot be taken if a problem occurs in the programmable controller due to a communication
failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions
to be taken between the external device and CPU module in case of a communication failure.
● Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.
● Use any radio communication device such as a cellular phone or PHS (Personal Handyphone
System) more than 25 cm away in all directions from the programmable controller. Failure to do so
may cause malfunction.
● Shut off the external power supply (all phases) used in the system before mounting or removing the
module. Failure to do so may cause the module to fail or malfunction.
● Tighten the screws within the specified torque range. Undertightening can cause drop of the
component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module,
resulting in drop, short circuit, or malfunction.
● After the first use of the product, do not mount/remove the module to/from the base unit, and the
terminal block to/from the module, and do not insert/remove the extended SRAM cassette to/from the
CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit of 50 times
may cause malfunction.
● After the first use of the product, do not insert/remove the SD memory card to/from the CPU module
more than 500 times. Exceeding the limit may cause malfunction.
● Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause
malfunction or failure.
● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette. Doing so may
cause malfunction or failure.
● Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the
battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is
applied to it, dispose of it without using.

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[Startup and Maintenance Precautions]
CAUTION
● Startup and maintenance of a control panel must be performed by qualified maintenance personnel
with knowledge of protection against electric shock. Lock the control panel so that only qualified
maintenance personnel can operate it.
● Before handling the module, touch a conducting object such as a grounded metal to discharge the
static electricity from the human body. Failure to do so may cause the module to fail or malfunction.
● Before testing the operation, set a low speed value for the speed limit parameter so that the operation
can be stopped immediately upon occurrence of a hazardous condition.
● Confirm and adjust the program and each parameter before operation. Unpredictable movements
may occur depending on the machine.
● When using the absolute position system function, on starting up, and when the module or absolute
position motor has been replaced, always perform a home position return.
● Before starting the operation, confirm the brake function.
● Do not perform a megger test (insulation resistance measurement) during inspection.
● After maintenance and inspections are completed, confirm that the position detection of the absolute
position detection function is correct.
● Lock the control panel and prevent access to those who are not certified to handle or install electric
equipment.

[Operating Precautions]
CAUTION
● When changing data and operating status, and modifying program of the running programmable
controller from an external device such as a personal computer connected to an intelligent function
module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or
modification may cause system malfunction, damage to the machines, or accidents.
● Do not power off the programmable controller or reset the CPU module while the setting values in the
buffer memory are being written to the flash ROM in the module. Doing so will make the data in the
flash ROM undefined. The values need to be set in the buffer memory and written to the flash ROM
again. Doing so also can cause malfunction or failure of the module.
● Note that when the reference axis speed is specified for interpolation operation, the speed of the
partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.
● Do not go near the machine during test operations or during operations such as teaching. Doing so
may lead to injuries.

[Disposal Precautions]
CAUTION
● When disposing of this product, treat it as industrial waste.
● When disposing of batteries, separate them from other wastes according to the local regulations. For
details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration
Manual.

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 [Transportation Precautions]
CAUTION
● When transporting lithium batteries, follow the transportation regulations. For details on the regulated
models, refer to the MELSEC iQ-R Module Configuration Manual.
● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant
used for disinfection and pest control of wood packaging materials, may cause failure of the product.
Prevent the entry of fumigant residues into the product or consider other methods (such as heat
treatment) instead of fumigation. The disinfection and pest control measures must be applied to
unprocessed raw wood.

8
CONDITIONS OF USE FOR THE PRODUCT
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;
and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the
case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
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 the 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 the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other
applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or
more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific
applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or
other safety features which exceed the general specifications of the PRODUCTs are required. For details, please
contact the Mitsubishi representative in your region.

INTRODUCTION
Thank you for purchasing the Mitsubishi MELSEC iQ-R series programmable controllers.
This manual describes the specifications, procedures before operation and wiring of the relevant products listed below.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it
will not cause system control problems.
Please make sure that the end users read this manual.

Relevant products
R16MTCPU, R32MTCPU

9
 COMPLIANCE WITH EMC AND LOW VOLTAGE
DIRECTIVES
Method of ensuring compliance
To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other
machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals.
MELSEC iQ-R Module Configuration Manual
Safety Guidelines (This manual is included with the base unit.)
The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives.

Additional measures
To ensure that this product maintains EMC and Low Voltage Directives, please refer to the following manual.
MELSEC iQ-R Motion Controller User's Manual

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CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
MANUAL PAGE ORGANIZATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

CONTENTS
CHAPTER 1 OVERVIEW 17
1.1 Overview of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

CHAPTER 2 STARTING UP THE SYSTEM 20

2.1 Starting Up the Advanced Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2 Starting/Ending for Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3 Stop Operation of Output Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

CHAPTER 3 SYNCHRONOUS CONTROL MODULE 26

3.1 List of Synchronous Control Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

CHAPTER 4 INPUT AXIS MODULE 29

4.1 Servo Input Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Overview of servo input axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Servo input axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Servo input axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2 Command Generation Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Overview of command generation axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Command generation axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Command generation axis control data (Word device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Command generation axis control data (Bit device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Command generation axis monitor data (Word device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Command generation axis monitor data (Bit device). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.3 Synchronous Encoder Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Overview of synchronous encoder axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Setting method for synchronous encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Synchronous encoder axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Synchronous encoder axis control data (Word device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Synchronous encoder axis control data (Bit device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Synchronous encoder axis monitor data (Word device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Synchronous encoder axis monitor data (Bit device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

CHAPTER 5 CAM FUNCTION 73

5.1 Control Details for Cam Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Type of cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Overview of cam operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
5.2 Create Cam Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Memory operation of cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

11
 Cam data operation by Motion SFC program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Cam data operation by file transmission function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

CHAPTER 6 SYNCHRONOUS CONTROL 82

6.1 Main Shaft Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Overview of main shaft module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Main shaft parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Main shaft clutch parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Main shaft clutch control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
6.2 Auxiliary Shaft Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Overview of auxiliary shaft module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Auxiliary shaft parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Auxiliary shaft clutch parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Auxiliary shaft clutch control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6.3 Clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Overview of clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Control method for clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Smoothing method for clutch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Use example of clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
6.4 Speed Change Gear Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Overview of speed change gear module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Speed change gear parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
6.5 Output Axis Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Overview of output axis module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Output axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
6.6 Synchronous Control Change Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Overview of synchronous control change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Synchronous control change control data (Bit device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Synchronous control change control data (Word device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
6.7 Synchronous Control Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Synchronous Control Monitor Data (Word device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Synchronous Control Monitor Data (Bit device) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

CHAPTER 7 AUXILIARY AND APPLIED FUNCTIONS 129

7.1 Phase Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.2 Relationship between the Output Axis and Each Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
7.3 Speed-Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.4 Synchronous Control Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
7.5 Synchronous Control Initial Position Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
7.6 Cam Axis Position Restoration Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Cam axis current value per cycle restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Cam reference position restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Cam axis current feed value restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
7.7 Synchronous Control Analysis Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
7.8 Cam Position Calculation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
7.9 Method to Restart Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
7.10 Multiple CPU Advanced Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Multiple CPU advanced synchronous control overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Setting for Multiple CPU advanced synchronous control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Fixed scan communication setting/inter-module synchronization setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

12
 Selection of slave CPU input axis type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Multiple CPU advanced synchronous control monitor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Example programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

APPENDICES 172
Appendix 1 Sample Program of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Appendix 2 Advanced Synchronous Control Device List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183

CONTENTS
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184

13
 RELEVANT MANUALS
Manual Name [Manual Number] Description Available form
MELSEC iQ-R Motion Controller Programming Manual This manual explains the dedicated instructions to use Print book
(Advanced Synchronous Control) synchronous control by synchronous control parameters, device
e-Manual
[IB-0300243] (This manual) lists and others.
EPUB
PDF
MELSEC iQ-R Motion Controller User's Manual This manual explains specifications of the Motion CPU modules, Print book
[IB-0300235] SSCNET cables, synchronous encoder, troubleshooting, and
e-Manual
others.
EPUB
PDF
MELSEC iQ-R Motion Controller Programming Manual This manual explains the Multiple CPU system configuration, Print book
(Common) performance specifications, common parameters, auxiliary/
e-Manual
[IB-0300237] applied functions, error lists and others.
EPUB
PDF
MELSEC iQ-R Motion Controller Programming Manual This manual explains the functions, programming, debugging for Print book
(Program Design) Motion SFC and others. e-Manual
[IB-0300239]
EPUB
PDF
MELSEC iQ-R Motion Controller Programming Manual This manual explains the servo parameters, positioning Print book
(Positioning Control) instructions, device lists and others.
e-Manual
[IB-0300241]
EPUB
PDF

e-Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.

14
TERMS
Unless otherwise specified, this manual uses the following terms.
Term Description
R32MTCPU/R16MTCPU or Motion Abbreviation for MELSEC iQ-R series Motion controller
CPU (module)
MR-J4(W)-B Servo amplifier model MR-J4-B/MR-J4W-B
MR-J3(W)-B Servo amplifier model MR-J3-B/MR-J3W-B
AMP or Servo amplifier General name for "Servo amplifier model MR-J4-B/MR-J4W-B/MR-J3-B/MR-J3W-B"
RnCPU, PLC CPU or PLC CPU Abbreviation for MELSEC iQ-R series CPU module
module
Multiple CPU system or Motion Abbreviation for "Multiple PLC system of the R series"
system
CPUn Abbreviation for "CPU No.n (n = 1 to 4) of the CPU module for the Multiple CPU system"
Operating system software General name for "SW10DNC-RMTFW"
Engineering software package General name for MT Developer2/GX Works3
MELSOFT MT Works2 General product name for the Motion controller engineering software "SW1DND-MTW2"
MT Developer2 Abbreviation for the programming software included in the "MELSOFT MT Works2" Motion controller engineering
software
GX Works3 General product name for the MELSEC PLC software package "SW1DND-GXW3"
Manual pulse generator Abbreviation for "Manual pulse generator"
Serial absolute synchronous encoder Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8)"
or Q171ENC-W8
SSCNET/H*1 High speed synchronous network between Motion controller and servo amplifier
SSCNET*1
SSCNET(/H) General name for SSCNET/H, SSCNET
Absolute position system General name for "system using the servomotor and servo amplifier for absolute position"
Intelligent function module General name for module that has a function other than input or output such as A/D converter module and D/A
converter module.
SSCNET/H head module*1 Abbreviation for "MELSEC-L series SSCNET/H head module (LJ72MS15)"
Optical hub unit or MR-MV200 Abbreviation for SSCNET/H Compatible Optical Hub Unit (MR-MV200)

*1 SSCNET: Servo System Controller NETwork

15
 MANUAL PAGE ORGANIZATION
Representation of numerical values used in this manual
In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the
following table.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 9 8 17 16 25 24
2 1 10 9 18 17 26 25
3 2 11 10 19 18 27 26
4 3 12 11 20 19 28 27
5 4 13 12 21 20 29 28
6 5 14 13 22 21 30 29
7 6 15 14 23 22 31 30
8 7 16 15 24 23 32 31

• The range of axis No.1 to 16 (n=0 to 15) is valid in the R16MTCPU

• Calculate as follows for the device No. corresponding to each axis.

Ex.
For axis No. 32
M3200+20n (Stop command) = M3200 + 20  31 = M3820
M3215+20n (Servo OFF command) = M3215+20  31 = M3835

In the positioning dedicated signals, "n" in "M10440+10n", etc. of the "Synchronous encoder axis status", "Synchronous
encoder axis command signal", "Synchronous encoder axis monitor device" and "Synchronous encoder axis control device"
indicates a value corresponding to synchronous encoder axis No. as shown in the following table.
Synchronous encoder axis No. n Synchronous encoder axis No. n Synchronous encoder axis No. n
1 0 5 4 9 8
2 1 6 5 10 9
3 2 7 6 11 10
4 3 8 7 12 11

• Calculate as follows for the device No. corresponding to each synchronous encoder.

Ex.
For synchronous encoder axis No.12
M10440+10n ([St.320] Synchronous encoder axis setting valid flag) = M10440 + 10  11 = M10550
D13240+20n ([Md.320] Synchronous encoder axis current value) = D13240 + 20  11 = D13460

16
1 OVERVIEW
1
1.1 Overview of Synchronous Control
"Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change
gear or cam etc.
"Synchronous control" synchronizes movement with the input axis (servo input axis, command generation axis, synchronous
encoder axis), by setting "the parameters for synchronous control" and starting synchronous control on each output axis.
Positioning start Synchronous encoder Synchronous control start
Synchronous control start
Manual pulse generator/ Synchronous
Synchronous encoder input control start

Axis 1
Synchronous parameter
Main shaft Composite main Main shaft Axis 2
main input axis shaft gear gear Axis 3
Synchronous encoder
Command
axis parameter
generation
axis Synchronous encoder
axis
Main shaft
Servo program clutch
Command generation Main shaft
Positioning control sub input axis
axis parameter Speed
Command generation change
Auxiliary Auxiliary Speed gear *2
axis
shaft shaft change
gear clutch gear *2
Servo input axis Composite
Other axis input *1 auxiliary
parameter
shaft gear
Servo input axis
Speed
change
gear *2

Auxiliary
shaft axis Cam
Output axis

Positioning start
Servo Servo Servo
amplifier amplifier amplifier
Axis 4
Servo program
Servo Servo Servo
Positioning control motor motor motor

Servo
amplifier

Servo
motor

*1 It is possible to drive the servo input axis except the positioning control (home position return, manual control, speed-torque control,
synchronous control).
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)
*2 Speed change gear can be arranged on two of "Main shaft side", "Auxiliary shaft side" or "After composite auxiliary shaft gear".

1 OVERVIEW
1.1 Overview of Synchronous Control 17
 1.2 Performance Specifications

Synchronous control specifications

Item Number of settable axes
R32MTCPU R16MTCPU
Input axis Servo input axis 32 axes/module 16 axes/module
Command generation axis 32 axes/module 16 axes/module
Synchronous encoder axis 12 axes/module
Composite main shaft gear 1/output axis
Main shaft main input axis 1 axis/output axis
Main shaft sub input axis 1 axis/output axis
Main shaft gear 1/output axis
Main shaft clutch 1/output axis
Auxiliary shaft 1 axis/output axis
Auxiliary shaft gear 1/output axis
Auxiliary shaft clutch 1/output axis
Composite auxiliary shaft gear 1/output axis
Speed change gear 2/output axis
Output axis (Cam axis) 32 axes/module 16 axes/module

Cam specifications
Item Specification
Memory capacity Cam file Standard ROM 12Mbytes
SD memory card SD memory card capacity
Cam open area 16Mbytes
Number of cam registration*1 Up to 1024
(Dependent on memory capacity, cam resolution and coordinate number)
Comment Up to 32 characters per cam data
Cam data Stroke ratio data format Cam resolution 256/512/1024/2048/4096/8192/16384/32768
Stroke ratio -214.7483648 to 214.7483647[%]
Coordinate data format Coordinate number 2 to 65535
Coordinate data Input value: 0 to 2147483647
Output value: -2147483648 to 2147483647

*1 The maximum number of cam registration by the cam resolution is shown below (In case it created by the same cam resolution).
• Stroke ratio data format
Cam resolution Maximum number of cam registration
256 1024
512 1024
1024 1024
2048 1024
4096 1024
8192 512
16384 256
32768 128

1 OVERVIEW
18 1.2 Performance Specifications
• Coordinate data format
Coordinate number Maximum number of cam registration
512 1024 1
1024 1024
2048 1024
4096 512
8192 256
16384 128
32768 64
65535 32

Cam operation specifications

Item Specification
Operation method of cam data • MT Developer2
Write/read/verify to cam file
• Motion SFC program (Advanced synchronous control instruction)
Write/read to cam file and cam open area
Cam auto-generation function Automatically generate the following cam data
• Cam for rotary cutter
• Easy stroke ratio cam
• Advanced stroke ratio cam
Cam position calculation function Calculate the cam position by the Motion SFC program.
Used to calculate the cam axis feed current value after calculating the cam axis current value per cycle for the
synchronous control initial position before starting synchronous control.

Synchronous encoder axis specifications

Item Specification
Number of control axes 12
Synchronous encoder axis type Via module/Via servo amplifier/Via device/Multiple CPU advanced synchronous control
Control unit mm, inch, degree, pulse
(Possible to select the decimal places of position unit and speed unit)
Unit Numerator -2147483648 to 2147483647
conversion [Synchronous encoder axis position unit]
Denominator 1 to 2147483647
[pulse]
Length per cycle setting range 1 to 2147483647
[Synchronous encoder axis position unit]
Current value Current value -2147483648 to 2147483647
range [Synchronous encoder axis position unit]
Current value per 0 to (Length per cycle-1)
cycle [Synchronous encoder axis position unit]
Control Control instruction Current value change, Counter disable, Counter enable
method
Current value setting Address setting range: -2147483648 to 2147483647
address [Synchronous encoder axis position unit]

1 OVERVIEW
1.2 Performance Specifications 19
 2 STARTING UP THE SYSTEM
The procedure for synchronous control positioning control is shown below.

2.1 Starting Up the Advanced Control System

The procedure to start up for synchronous control system is shown below.

Preparation • ¢MELSEC iQ-R Motion controller

STEP 1 Set the following common parameter.
• R series common parameter Programming Manual (Common)
• Motion CPU common parameter

Set the following positioning control parameter. • ¢MELSEC iQ-R Motion controller
• Motion control parameters Programming Manual (Positioning Control)

Set input axis parameters. Refer to Chapter 4. • Input axis module *1

([Pr.300] to [Pr.304], [Pr.320] to [Pr.332],
[Pr.340] to [Pr.353])

Set the cam data. • Cam function *2

Set synchronous control parameters. • Synchronous control *3

([Pr.400] to [Pr.468], [Pr.490] to [Pr.493]) • Synchronous control initial position
parameters *4

STEP 2 Create a program (Motion SFC program,

sequence program, servo program) that
executes to start/change control/stop
synchronous control. (Set "[Rq.380]
Synchronous control start (M12000+n)", start
and stop the input axis operation)

STEP 3 Write the program, which is created in STEP1

and STEP2, to the Motion CPU. (Write the • ¢MELSEC iQ-R Motion controller
sequence program to the PLC CPU.) Programming Manual (Positioning Control)

Reset the Multiple CPU system.

Start • Turn ON the "[Rq.380] Synchronous control

STEP 4 Turn ON the synchronous control start signal
synchronous start (M12000+n)" and start synchronous
of the axis that start synchronous control.
control control by the program in STEP 2.

Verify that it's during synchronous control. • Verify that it's during synchronous control in
"[St.380] Synchronous control (M10880+n)".

Operate the input axis. • Operate the input axis by the program in
STEP 2.
Monitor • Monitor using MT Developer2.
STEP 5 Monitor the synchronous control operation
synchronous Changing the control by the program in
status.
control, change STEP 2.
Execute the change for the speed change or
control
synchronous control parameter.

Complete • Stop the input axis by the program in STEP 2.

STEP 6 Stop the input axis.
synchronous
control
Verify the output axis is stopped and turn OFF •Turn OFF the "[Rq.380] Synchronous control
the synchronous control start signal that stop start (M12000+n)" to stop synchronous
synchronous control. control by the sequence program in STEP 2.

End of control
*1 Input axis module(Page 29 INPUT AXIS MODULE)
*2 Cam function(Page 73 CAM FUNCTION)
*3 Synchronous control(Page 82 SYNCHRONOUS CONTROL)
*4 Synchronous Control Initial Position Parameters(Page 141 Synchronous Control Initial Position Parameters)

2 STARTING UP THE SYSTEM

20 2.1 Starting Up the Advanced Control System
2.2 Starting/Ending for Synchronous Control
Set the parameters for synchronous control for each output axis to start synchronous control.
The status changes to synchronous control after the parameters are analyzed at the start of synchronous control, and the
output axes synchronize with input axis operations.
The advanced synchronous control is started/ended by the operation of "[Rq.380] Synchronous control start (M12000+n)"
2
ON/OFF.
[Rq.380] Synchronous control
start (M12000+n)
[St.1040] Start accept flag
(M2001+n)
[St.380] Synchronous control
(M10880+n)
Analyzing Synchronous control
[Md.321] Synchronous encoder
axis current value per cycle
(D13242+20n, D13243+20n) t
[Md.407] Cam axis current value
per cycle
(D13612+30n, D13613+30n) t
[Md.20] Feed current value
(D0+20n, D1+20n) t

Synchronous control system control data

Symbol Setting Setting details Setting value Refresh Fetch Default Device No.
item cycle cycle value
Rq.380 Synchronous • Synchronous control begins if the OFF: Synchronous  Operation OFF M12000+n
control start target axis bit device is turned control end cycle
ON. ON: Synchronous
• Synchronous control ends if the control start
bit device is turned OFF during
synchronous control.
Rq.381 Synchronous If the target axis bit device is turned OFF: Synchronous At start of OFF M12032+n
analysis ON and synchronous control is analysis not the
request started, the analysis is only requested synchronous
executed and the control does not ON: Synchronous control
start. analysis requested

Synchronous control system monitor data

Symbol Setting Setting details Setting value Refresh Fetch Default Device No.
item cycle cycle value
St.380 Synchronous The bit device turns ON during OFF: Normal operation Operation   M10880+n
control synchronous control. ON: Synchronous cycle
control
St.381 Synchronous • The bit device turns ON when the OFF: Synchronous  M10912+n
analysis synchronous control analysis is control analysis
complete completed. not completed
• The bit device turns OFF when ON: Synchronous
[Rq.380] Synchronous control control analysis
start (M12000+n) turns OFF to completed
ON.

2 STARTING UP THE SYSTEM

2.2 Starting/Ending for Synchronous Control 21
 Starting method for synchronous control
Synchronous control can be started by turning "[Rq.380] Synchronous control start (M12000+n)" from OFF to ON after setting
the parameters for synchronous control.
"[St.1040] Start accept flag (M2001+n)" turns ON at the synchronous control start, and the parameters for synchronous control
are analyzed. "[St.380] Synchronous control (M10880+n)" turns ON after completion of analysis, and the synchronouscontrol
starts.
Start the input axis operation after confirming that "[St.380] Synchronous control (M10880+n)" of the output axis turns ON.

When "[St.381] Synchronous analysis complete (M10912+n)" is ON at the synchronous control start, "[St.381]
Synchronous analysis complete (M10912+n)" turns OFF by turning "[Rq.380] Synchronous control start
(M12000+n)" OFF to ON. However, "[St.381] Synchronous analysis complete (M10912+n)" does not turn ON
by the analysis completion at the synchronous control start. ("[St.381] Synchronous analysis complete
(M10912+n)" turns ON by the analysis completion at the synchronous control analysis mode start.)

Ending method for synchronous control

Synchronous control can be ended by turning "[Rq.380] Synchronous control start (M12000+n)" from ON to OFF after the
input axis operation is stopped.
"[St.380] Synchronous control (M10880+n)" turns OFF at the synchronous control end, and the "[St.1040] Start accept flag
(M2001+n)" turns OFF at the output axis stop.
Synchronous control can also be ended by turning "[Rq.380] Synchronous control start (M12000+n)" from ON to OFF during
the input axis operation. However, it is recommended to end the synchronous control after stopping the input axis operation
since the output axis stops immediately.
Refer to Stop Operation of Output Axis for the stop operation of output axis at the synchronous control end.(Page 24 Stop
Operation of Output Axis)

[Md.1008] Execute program No. (D12+20n)

This register stores the starting program No. at the servo program starting.
"FFEF" is stored in the "[Md.1008] Execute program No. (D12+20n)" when starting advanced synchronous control.

Status when starting synchronous control

The following signal are turned OFF when starting synchronous control.
• [St.1048] Automatic decelerating flag (M2128+n)
• [St.1060] Positioning start complete (M2400+20n)
• [St.1061] Positioning complete (M2401+20n)
• [St.1063] Command in-position (M2403+20n)
• [St.1064] Speed controlling (M2404+20n)
• [St.1065] Speed/position switching latch (M2405+20n)
• [St.1070] Home position return complete (M2410+20n)

2 STARTING UP THE SYSTEM

22 2.2 Starting/Ending for Synchronous Control
Restrictions
• If "[Rq.380] Synchronous control start (M12000+n)" is turned ON simultaneously in multiple axes, control is not started
simultaneously since the analysis is processed for each axis in numerical order. When the multiple axes must be started
simultaneously, start the input axis operation after confirming that all axes are configured for the synchronous control.
• If the input axis operates during the analysis at the synchronous control start, the travel value of the input axis is reflected 2
immediately after the synchronous control start. The output axis might suddenly accelerate depending on the travel value of
the input axis. Start the input axis operation after confirming that are configured for synchronous control.
• The analysis process for synchronous control start might take time depending on the parameter setting for synchronous
control. The processing times for when "0: Cam axis current value per cycle restoration" is set to "[Pr.462] Cam axis
position restoration object (D15102+150n)" are shown below. Set "1: Cam reference position restoration" or "2: Cam axis
current feed value restoration" in "[Pr.462] Cam axis position restoration object (D15102+150n)" to start synchronous
control at high speed.
Number of axes Cam resolution
256 32768
1 0.44[ms] 12.2[ms]
8 1.78[ms] 94.4[ms]
16 3.55[ms] 249[ms]
32 7.10[ms] 483[ms]

• When the synchronous control parameter is set to the value outside the setting range, the synchronous control does not
start, and the error code corresponding to each data of error axis is stored in the data register.

2 STARTING UP THE SYSTEM

2.2 Starting/Ending for Synchronous Control 23
 2.3 Stop Operation of Output Axis
If the following causes occur in stopping the output axis during synchronous control, "[St.380] Synchronous control
(M10880+n)" turns OFF, and stops processing for the output axis is completed. After that, the "[St.1040] Start accept flag
(M2001+n)" turns OFF, and the synchronous control is completed. Synchronous alignment must be executed for the output
axis to restart the synchronous control. (Page 137 Synchronous Control Initial Position)
Stop cause Stop process
"[Rq.380] Synchronous control start (M12000+n)" is turned from ON to OFF. Immediate stop
Main shaft gear/auxiliary shaft gear/speed change gear 1/speed change gear 2 operation overflow error
occurrence
Forced stop (Motion controller forced stop (Device)
Forced stop (Forced input terminal of servo amplifier)
Servo error occurrence
Servo amplifier control circuit power supply is turned from ON to OFF.
Software stroke limit error occurrence Deceleration stop
External input signal (STOP/FLS/RLS) input (Stop processing on STOP input: Deceleration stop)
The Motion CPU is turned from RUN to STOP
Stop command input
External input signal (STOP/FLS/RLS) input (Stop processing on STOP input: Rapid stop) Rapid stop
Rapid stop command input

Immediate stop
The operation stops without decelerate. The Motion CPU immediately stops the command, but the operation will coast for the
droop pulses accumulated in the deviation counter of the servo amplifier.

Immediate stop cause

[Rq.380] Synchronous control

start (M12000+n)
[St.380] Synchronous control
(M10880+n)
Analyzing Synchronous control
[St.1040] Start accept flag
(M2001+n)

[Md.407] Cam axis current

value per cycle
(D13612+30n, D13613+30n)
t

[Md.20] Feed current value

(D0+20n, D1+20n)
t

[Md.28] Command speed

(#8004+20n, #8005+20n)
t
Immediate stop

2 STARTING UP THE SYSTEM

24 2.3 Stop Operation of Output Axis
Deceleration stop/rapid stop
The output axis stops with deceleration according to the stop and rapid stop conditions. The deceleration time and
deceleration time for rapid stop are according to the parameter block conditions specified by "[Pr.448] Synchronous control
deceleration time parameter block No. (D15069+150n)".
When the synchronous control ends as the deceleration stop begins, the output axis monitor device is not updated, and only 2
the monitor device for each axis is updated.
Deceleration stop/rapid stop
cause
[Rq.380] Synchronous control
start (M12000+n)
[St.380] Synchronous control
(M10880+n)
Analyzing Synchronous control
[St.1040] Start accept flag
(M2001+n)

[Md.407] Cam axis current

value per cycle
(D13612+30n, D13613+30n)
t

[Md.20] Feed current value

(D0+20n, D1+20n)
t

[Md.28] Command speed

(#8004+20n, #8005+20n)
t

Deceleration stop/
rapid stop

• Since the synchronous control ends by the output axis stop, the current feed value during deceleration stop
draws the path regardless of the cam operation. Therefore, the input axis must be stopped when the output
axis is in deceleration stop/rapid stop synchronizing with the input axis.
• Since the synchronous control ends by the output axis stop, [Rq.380] Synchronous control start
(M12000+n) ON to OFF during output axis deceleration is invalid. During output axis stop, use the rapid
stop command and forced stop.

2 STARTING UP THE SYSTEM

2.3 Stop Operation of Output Axis 25
 3 SYNCHRONOUS CONTROL MODULE

3.1 List of Synchronous Control Module

The module is used in synchronous control as follows.
Input axis module

Synchronous encoder
axis parameter
Synchronous encoder
axis
Synchronous parameter
Command generation
axis parameter
Main shaft module
Command generation
axis Main shaft Composite main Main shaft
main input axis shaft gear gear
Servo input axis
parameter
Servo input axis
Main shaft
Input axis module Main shaft clutch
sub input axis
Synchronous encoder Speed
Speed change
axis parameter change
gear module
gear
Synchronous encoder Auxiliary
axis shaft gear
Composite
Auxiliary shaft
Command generation auxiliary
module
axis parameter shaft gear
Auxiliary
Command generation
shaft Speed
axis Speed
clutch change Speed change
change
gear gear module
Servo input axis gear
Cam data
parameter Auxiliary
Servo input axis shaft axis
Auxiliary Speed Cam Output axis
shaft module change gear module
Output axis
module

Synchronous encoder Command generation Servo input axis

axis parameter axis parameter parameter
Synchronous encoder Command generation Servo input axis
axis axis

Input axis module

• Input axis module can be set to one of servo input axis, command generation axis or synchronous encoder
axis.
• Speed change gear can be arranged on two of main shaft side, auxiliary shaft side or after composite
auxiliary shaft gear.
• Set the travel value of input axis module so large as possible to prevent the speed fluctuation of output axis
module in the synchronous control. If the travel value of input axis module is small, the speed fluctuation of
output axis module may occur depending on the setting for synchronous parameter.
• All synchronous control monitor data, and the rotation direction of the main shaft main input axis, main shaft
sub input axis, auxiliary shaft, output axis (cam axis feed current value) can be monitored in the
MT Developer2 synchronous control image screen.

3 SYNCHRONOUS CONTROL MODULE

26 3.1 List of Synchronous Control Module
Input axis
Classification Name Parts Function description Maximum number of usable Reference
Number per module Number
R32MTCPU R16MTCPU per axis

Input axis Servo input  Used to drive the input axis with the 32 16  Page 29
module axis position of the servomotor controlled by Servo Input
the R32MTCPU/ R16MTCPU. Axis
Command  Used to drive the input axis with the 32 16  Page 35
generation only position command generated in Command 3
axis the servo program. Generation
Axis
Synchronous  Used to drive the input axis with input 12  Page 50
encoder axis pulse from the synchronous encoder. Synchronous
Encoder Axis

Output axis
Classification Name Parts Function description Maximum number of usable Reference
Number per module Number
R32MTCPU R16MTCPU per axis

Main shaft Main shaft • The input axis on the main side of the 32 16 1 Page 82
module main input main shaft module. Main Shaft
axis • The reference position on the main Module
shaft.

Main shaft • The input axis on the sub side of the 32 16 1 Page 82
sub input axis main shaft module. Main Shaft
• It is used to compensate for the Module
position of the main shaft main input
axis.
Composite The composite travel value of the main 32 16 1 Page 82
main shaft shaft main input axis and the main shaft Main Shaft
gear sub input axis are transmitted to the Module
main shaft gear.
Main shaft The converting travel value after 32 16 1 Page 82
gear composite main shaft gear is Main Shaft
transmitted by the setting gear ratio. Module

Main shaft The main shaft travel value is 32 16 1 Page 82

clutch transmitted by the clutch ON/OFF. Main Shaft
Module
Page 99
Clutch
Auxiliary shaft Auxiliary The input axis of the auxiliary shaft 32 16 1 Page 91
module shaft axis module. Auxiliary Shaft
Module

Auxiliary The converting auxiliary shaft travel 32 16 1 Page 91

shaft gear value is transmitted by the setting gear Auxiliary Shaft
ratio. Module

Auxiliary The auxiliary shaft travel value is 32 16 1 Page 91

shaft clutch transmitted by the clutch ON/OFF. Auxiliary Shaft
Module
Page 99
Clutch
Composite The composite travel value of the main 32 16 1 Page 91
auxiliary shaft shaft and the auxiliary shaft are Auxiliary Shaft
gear transmitted. Module

Speed change Speed It is used to change the speed by 64 32 2 Page 110

gear module change gear setting speed change ratio during the Speed
operation. Change Gear
Module

3 SYNCHRONOUS CONTROL MODULE

3.1 List of Synchronous Control Module 27
 Classification Name Parts Function description Maximum number of usable Reference
Number per module Number
R32MTCPU R16MTCPU per axis

Output axis Output axis The cam conversion is processed 32 16 1 Page 113
module based on the input travel value and the Output Axis
setting cam data. The current feed Module
value is output as the command to the
servo amplifier.

Cam data
Classification Name Function description Maximum number of usable Reference
Number per module
Cam data Cam data It controls the operation pattern of the output axis (two- Up to 1024 Page 73
way operation and feed operation), which is CAM
corresponding to the input travel value of the output axis FUNCTION
module.

3 SYNCHRONOUS CONTROL MODULE

28 3.1 List of Synchronous Control Module
4 INPUT AXIS MODULE

4.1 Servo Input Axis

Overview of servo input axis
The servo input axis is used to drive the input axis based on the position of the servomotor that is being controlled by the
Motion CPU.
The status of a servo input axis can be monitored even before the synchronous control start since the setting of a servo input
axis is valid after Multiple CPU system's power supply ON.
The following shows the relationship between the position of the servomotor and the servo input axis.
4
Servo motor position
Current feed value
Real current value
[Pr.300] Servo input axis type
Servo command value
Feedback value

Input
[Pr.301] Servo input axis
smoothing
smoothing time constant
processing

[Pr.302] Servo input axis phase

compensation advance time Phase
[Md.302] Servo input axis phase
(D14600+2n,D14601+2n) compensation
compensation amount
[Pr.303] Servo input axis phase processing
(D12284+10n, D12285+10n)
compensation time constant

[Pr.304] Servo input axis Rotation direction [Md.303] Servo input axis rotation
rotation direction restriction restriction direction restriction amount
(D12286+10n, D12287+10n)

[Md.300] Servo input axis current value

Current value of (D12280+10n, D12281+10n)
servo input axis [Md.301] Servo input axis speed
(D12282+10n, D12283+10n)

Control method for servo input axis

All controls (including synchronous control) can be executed for a servo input axis.
Refer to the following for the controls other than synchronous control.
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

When the axis during speed control, torque control, or continuous operation to torque control or the
synchronous control output axis is set to the servo input axis, the input axis is driven based on the position of
an operation cycle before.

4 INPUT AXIS MODULE

4.1 Servo Input Axis 29
 Restrictions
• If "1: Current feed value" or "2: Real current value" is set in "[Pr.300] Servo input axis type", turn ON the "[Rq.1152] Feed
current value update command (M3212+20n)" to start the speed/position switching control. If the "[Rq.1152] Feed current
value update command (M3212+20n)" turns OFF, minor error (error code: 1BA7H) will occur and the control will not start.
• If "[Pr.300] Servo input axis type" is set to other than "0: Invalid", when the speed control () is started, the minor error
(error code: 1BDFH) will occur and the control will not start.

Units for the servo input axis

The position units and speed units for the servo input axis are shown below for the setting "[Pr.300] Servo input axis type" and
"Unit setting" of fixed parameter.

■Servo input axis position units

Setting value of "[Pr.300] Setting value of unit setting Servo input axis position unit Range
Servo input axis type"
1: Current feed value 0: mm 10-4mm(10-1m) -214748.3648 to 214748.3647[mm]
2: Real current value (-214748364.8 to 214748364.7[m])
1: inch 10-5inch -21474.83648 to 21474.83647[inch]
2: degree 10-5degree -21474.83648 to 21474.83647[degree]
3: pulse pulse -2147483648 to 2147483647[pulse]
3: Servo command value  pulse -2147483648 to 2147483647[pulse]
4: Feedback value

■Servo input axis speed units

Setting value of "[Pr.300] Setting value of unit setting Servo input axis speed unit Range
Servo input axis type"
1: Current feed value 0: mm 10-2mm/min -21474836.48 to 21474836.47[mm/min]
2: Real current value -3
1: inch 10 inch/min -2147483.648 to 2147483.647[inch/min]
2: degree 10-3degree/min*1 -2147483.648 to 2147483.647[degree/min]*1
3: pulse pulse/s -2147483648 to 2147483647[pulse/s]
3: Servo command value  pulse/s -2147483648 to 2147483647[pulse/s]
4: Feedback value

*1 When Speed control 10multiplier setting for degree axis is valid, this will be the speed unit "10-2degree/min" (Range: -21474836.48 to
21474836.47 [degree/min]).

• When "1: Current feed value" or "3: Servo command value" is set in "[Pr.300] Servo input axis type", and the
servo input axis becomes servo OFF by the servo error or forced stop, the amount of value change may be
large. This can be prevented by setting "2: Real current value" or "4: Feedback value" in "[Pr.300] Servo
input axis type".
• When a home position return for the axis where "1: Current feed value" or "2: Real current value" is set in
"[Pr.300] Servo input axis type" is performed, if the servo input axis operation during home position return is
used as the input value, the input is stopped in the midway of home position return. When the servo input
axis operation during home position return is used as the input value, set "3: Servo command value" or "4:
Feedback value" in "[Pr.300] Servo input axis type".

4 INPUT AXIS MODULE

30 4.1 Servo Input Axis
Servo input axis parameters
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.300 Servo input axis type Set the current value type to be 0: Invalid At power 0 
generated of the input value for the 1: Current feed value supply ON
servo input axis. 2: Real current value
3: Servo command value
4: Feedback value
Pr.301 Servo input axis Set to smooth the input value. 0 to 5000[ms] 0[ms] 
smoothing time
constant
Pr.302 Servo input axis Set the time to advance or delay the -2147483648 to 2147483647[s] Operation 0[s] D14600+2n
phase compensation
advance time
phase. cycle D14601+2n
4
Pr.303 Servo input axis Set the time constant to affect the phase 0 to 65535[ms] At power 10[ms] 
phase compensation compensation. supply ON
time constant
Pr.304 Servo input axis Set this parameter to restrict the input 0: Without rotation direction 0 
rotation direction travel value to one direction. restriction
restriction 1: Enable only for current value
increase direction
2: Enable only for current value
decrease direction

[Pr.300] Servo input axis type

Set the current value type to be generated of the input value for the servo input axis.
Setting value Description
0: Invalid Servo input axis is invalid.
1: Current feed value Generate the input value based on "[Md.20] Feed current value (D0+20n, D1+20n)".
2: Real current value Generate the input value based on the real current value, which is converted units of the encoder feedback pulses from the
servo amplifier.
3: Servo command value Generate the input value based on the command pulse (encoder pulse units) to the servo amplifier.
4: Feedback value Generate the input value based on the encoder feedback pulse from the servo amplifier.

Motion CPU

Unit Pulse conversion

1: Current feed value 3: Servo command value
(Backlash compensation) Servo
amplifier
2: Real current value Pulse Unit conversion 4: Feedback value

[Pr.301] Servo input axis smoothing time constant

Set the averaging time to execute a smoothing process for the input travel value from the servo input axis. The smoothing
process can moderate speed fluctuation, when the "Real current value" or "Feedback value" is used as input values.
The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Input value speed
before smoothing

t
Averaging by smoothing time constant
Input value speed
after smoothing

[Pr.301] Servo input axis [Pr.301] Servo input axis

smoothing time constant smoothing time constant

4 INPUT AXIS MODULE

4.1 Servo Input Axis 31
 [Pr.302] Servo input axis phase compensation advance time (D14600+2n, D14601+2n)
Set the time to advance or delay the phase (input response) of the servo input axis.
Refer to delay time peculiar to the system for a servo input axis for the peculiar time delay of the system using the servo input
axis.(Delay time peculiar to the system for a servo input axis)
Setting value Description
1 to 2147483647 [s] Advance the phase (input response) according to the setting time.
0 [s] Do not execute phase compensation.
-2147483648 to -1 [s] Delay the phase (input response) according to the setting time.

If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set longer time to affect the phase compensation amount in "[Pr.303] Servo input axis phase compensation time
constant".

[Pr.303] Servo input axis phase compensation time constant

Set the time constant to affect the phase compensation amount for the first order delay.
63 [%] of the phase compensation amount are reflected in the time constant setting.
[Pr.302] Servo input axis phase compensation advance time
(D14600+2n, D14601+2n)
Servo input axis current Current value after phase compensation
value Current value before phase compensation

Speed before phase

compensation
t

Speed after phase

compensation

[Pr.302] Servo input axis phase t

Speed before phase
× compensation advance time
[Md.302] Servo input compensation
(D14600+2n, D14601+2n)
axis phase 63%
compensation amount 63%
(D12284+10n,
t
D12285+10n) [Pr.303] Servo input axis phase [Pr.303] Servo input axis phase
compensation time constant compensation time constant

4 INPUT AXIS MODULE

32 4.1 Servo Input Axis
[Pr.304] Servo input axis rotation direction restriction
Set this parameter to restrict the input travel value for the servo input axis to one direction.
This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value" or "Feedback value" is
used as input values.
Setting value Description
0: Without rotation direction restriction Rotation direction restriction is not executed.
1: Enable only for current value increase direction Enable only the input travel value in the increasing direction of the servo input
axis current value.
2: Enable only for current value decrease direction Enable only the input travel value in the decreasing direction of the servo input
axis current value.

The input travel value in the opposite direction of the enable direction accumulates as a rotation direction restricted amount,
and will be reflected when the input travel value moves in the enabled direction again. Therefore, the current value of servo
4
input does not deviate when the reverse operation is repeated.
The rotation direction restricted amount is set to 0 at the following timing.
• At home position return complete
• At current value change complete
• At speed control () complete*1
• At fixed-pitch feed control start
• At servo amplifier connection/disconnection
• At speed/position switching control start*1
*1 When the control is started by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)".

For "1: Enable only for current value increase direction" is set in "[Pr.304] Servo input axis rotation
direction restriction".
Speed before rotation direction
restriction

[Md.301] Servo input axis speed

(D12282+10n, D12283+10n)
(Speed after rotation direction
restriction)
t

[Md.303] Servo input axis

rotation direction restriction t
amount
(D12286+10n, D12287+10n)
The input travel value is accumulated as a rotation
direction restricted amount, and will be reflected when
the input travel value moves in the enable direction.

4 INPUT AXIS MODULE

4.1 Servo Input Axis 33
 Servo input axis monitor data
Symbol Monitor item Storage details Monitor value Refresh cycle Device No.
Md.300 Servo input axis current The current value for the servo input axis -2147483648 to 2147483647 Operation cycle D12280+10n
value is stored. [Servo input axis position units]*1 D12281+10n
Md.301 Servo input axis speed The speed for the servo input axis is -2147483648 to 2147483647 D12282+10n
stored. [Servo input axis speed units]*2 D12283+10n
Md.302 Servo input axis phase The current phase compensation amount -2147483648 to 2147483647 D12284+10n
compensation amount is stored. [Servo input axis position units]*1 D12285+10n
Md.303 Servo input axis rotation While the rotation direction is restricted, -2147483648 to 2147483647 D12286+10n
direction restriction the accumulation for the input travel value [Servo input axis position units]*1 D12287+10n
amount in the opposite direction of the enable
direction is stored.

*1 Servo input axis position units(Page 30 Servo input axis position units)
*2 Servo input axis speed units(Page 30 Servo input axis speed units)

[Md.300] Servo input axis current value (D12280+10n, D12281+10n)

The current value for the servo input axis is stored in servo input axis position units as follows.(Page 30 Servo input axis
position units)
The current value for the servo input axis is the value after processing the smoothing, the phase compensation and the
rotation direction restriction.
Setting value of "[Pr.300] Servo Storage details
input axis type"
1: Current feed value • The accumulative current value started with Current feed value/Real current value for the connection to the servo
2: Real current value amplifier is stored. It is also stored in the range from -21474.83648 to 21474.83647 [degree] for degree units.
• When the Current feed value/Real current value is changed by a home position return or a current value change,
the value is changed to the new current value.
3: Servo command value • When of the absolute position detection system setting is invalid, the accumulative current value that starts from 0
4: Feedback value for the connected servo amplifier is stored.
• When of the absolute position detection system setting is valid, the accumulative current value that starts from the
absolute position command/encoder feedback pulse for the connected servo amplifier is stored.
• The servo input axis current value will not change, even if a home position return or the current value is changed.

[Md.301] Servo input axis speed (D12282+10n, D12283+10n)

The speed for the servo input axis is stored in servo input axis speed units. (Page 30 Servo input axis speed units)
The speed for the servo input axis is the value after processing smoothing, phase compensation, and rotation direction
restriction.

[Md.302] Servo input axis phase compensation amount (D12284+10n, D12285+10n)

The phase compensation amount for a servo input axis is stored in servo input axis position units. (Page 30 Servo input
axis position units)
The phase compensation amount for a servo input axis is the value after processing smoothing and phase compensation.

[Md.303] Servo input axis rotation direction restriction amount (D12286+10n,

D12287+10n)
While the rotation direction is restricted for a servo input axis, the accumulation for input travel value in the opposite direction
of the enabled direction is stored in servo input axis position units as follows. (Page 30 Servo input axis position units)
Setting value of "[Pr.304] Servo input axis rotation direction Storage details
restriction"
1: Enable only for current value increase direction A negative accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.
2: Enable only for current value decrease direction A positive accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.

Rotation direction restriction is processed after phase compensation processing. Therefore, if undershoot occurs from phase
compensation during deceleration stop, the rotation direction restriction amount might remain.

4 INPUT AXIS MODULE

34 4.1 Servo Input Axis
4.2 Command Generation Axis
Overview of command generation axis
Command generation axis is the axis that performs only the command generation. It can be controlled independently with the
axis to which the servo amplifier is connected. It is used to drive the input axis by the servo program or JOG operation.
The command generation axis can be controlled or the state of command generation axis can be monitored after Multiple
CPU system's power ON.

Control method for command generation axis

The command generation axis uses the servo program within the range assigned to the command generation axis program
4
with the command generation axis program allocation setting of MT Developer2. JOG operation can be executed with
Forward rotation JOG command/Reverse rotation JOG command of command generation axis.
The controls that can be used with command generation axis are shown below.
: Usable, : Unusable
Control mode Servo instruction Usable/unusable
Linear control 
ABS-1 ABS-2 ABS-3 ABS-4

INC-1 INC-2 INC-3 INC-4

Circular interpolation control 
ABS circular INC circular
Helical interpolation control 
ABS helical INC helical
Fixed-pitch feed 
FEED-1 FEED-2 FEED-3
Continuous trajectory control 
CPSTART1 CPSTART2 CPSTART3
Speed control () 
VF VR
Speed control () 
VVF VVR
Speed/position switching control 
VPF VPR VPSTART
Position follow-up control 
PFSTART
Speed control with fixed position stop 
PVF PVR
Simultaneous start 
START
JOG operation Individual start 
Simultaneous start 
Manual pulse generator operation 
High-speed oscillation 
OSC
Home position return 
ZERO
Speed-torque control 
Pressure control 

For the servo instruction data item of command generation axis, "torque limit value" and "deceleration processing on STOP
input" cannot be set. The items other than that can be set.
Refer to the following for details of servo instruction.
 MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

4 INPUT AXIS MODULE

4.2 Command Generation Axis 35
 ■Servo program start request M(P).SVST/D(P).SVST instruction of command generation axis
When executing M(P).SVST/D(P).SVST instruction (Servo program start request) for the command generation axis, specify
the axis No. with "Jn". The No. of servo program to be executed must be assigned to the range used by the command
generation axis with the command generation axis program allocation setting.

■Command generation axis start accept flag (System area)

When the servo program start is executed by specifying "Jn" as axis No., the complete status of start accept flag is stored in
the address of the start accept flag in the CPU shared memory for target CPU.
CPU shared memory address( ) Description
is decimal address
20EH(526) The command generation axis start accept flag for 32 axes are stored corresponding to each bit. Bits are actually
20FH(527) set as the following.
• R32MTCPU: J1 to J32
• R16MTCPU: J1 to J16
OFF: Start accept enable
ON: Start accept disable

b15 b2 b1 b0
20EH(526) address J16 J2 J1

20FH(527) address J32 J18 J17

■Control change for the command generation axis

The following control change can be performed for the command generation axis.
• Current value change
• When CHGA instruction of servo program (Kn) is used
CHGA instruction of servo program assigned to the range used by the command generation axis with the command generation axis program allocation
setting is used.
• When the current value changed is executed by Motion dedicated PLC instruction
M(P).CHGAS/D(P).CHGAS instruction is used.

Ex.
The current value is changed to 1000 for the command generation axis 3 of CPU No.2.

MP.CHGAS H3E1 "J3" K1000

• Speed change
• When the speed changed is executed by Motion SFC program
CHGVS instruction is used.

Ex.
The speed is changed to 100000 for the command generation axis 4.

CHGVS(K4,K100000)

• When the speed changed is executed by Motion dedicated PLC instruction

M(P).CHGVS/D(P).CHGVS instruction is used.

Ex.
The speed is changed to 300000 for the command generation axis 5 of CPU No.2.

MP.CHGVS H3E1 "J5" K300000

■Simultaneous start instruction of command generation axis program

In simultaneous start instruction (START), the simultaneous start is not possible with real axis program and command
generation axis program mixed. If the mixed programs are started with the programs mixed, the minor error (error code:
1A4FH) will occur.

4 INPUT AXIS MODULE

36 4.2 Command Generation Axis
Units for the command generation axis
The position units and speed units for the command generation axis are shown below for the setting "[Pr.341] Command
generation axis type".

■Command generation axis position units

Setting value of "[Pr.341] Command Command generation axis position unit Range
generation axis type"
0: mm 10-1m -214748364.8 to 214748364.7[m]
1: inch 10-5inch -21474.83648 to 21474.83647[inch]
2: degree 10-5degree -21474.83648 to 21474.83647[degree]
3: pulse pulse -2147483648 to 2147483647[pulse]

■Command generation axis speed units

4
Setting value of "[Pr.341] Command Command generation axis position unit Range
generation axis type"
0: mm 10-2mm/min -21474836.48 to 21474836.47[mm/min]
1: inch 10-3inch/min -2147483.648 to 2147483.647[inch/min]
2: degree 10-3degree/min*1 -2147483.648 to 2147483.647[degree/min]*1
3: pulse pulse/s -2147483648 to 2147483647[pulse/s]

*1 When "[Pr.345] Command generation axis speed control 10multiplier setting for degree axis" is valid, this will be the speed unit
"10-2degree/min" (Range: -21474836.48 to 21474836.47 [degree/min]).

Speed control with fixed position stop for command generation axis
Speed control with fixed position stop can be performed for the command generation axis.
Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program
instruction.

■Control details
• After starting of command generation axis, control at the specified speed is executed until the fixed position stop command
turns on.
Servo instruction Description
PVF Forward rotation direction (Address increase direction) start
PVR Reverse rotation direction (Address decrease direction) start

• When the fixed position stop command turns on, a positioning control to the specified address is executed.
• Speed control with fixed position stop can be executed in the command generation axis with all the control units where
"[Pr.346] Command generation axis length per cycle" is set to 1 to 2147483647. When "[Pr.346] Command generation axis
length per cycle" is "0", the minor error (error code: 19EAH) will occur, and the control will not start.
• Address setting range is "0 to ("[Pr.346] Command generation axis length per cycle"-1)" in the indirect setting of positioning
address. If it is set outside the setting range, a minor error (error code: 1A31H) occurs and it does not start. Positioning
address is input at the program start.
• It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at positioning start, speed
change request (CHGVS) and fixed position stop command ON. The fixed acceleration/deceleration time method is used
as an acceleration/deceleration processing in this case.
• The setting range of fixed position stop acceleration/deceleration time is 1 to 8388608[ms].
• In the case of indirect setting, the fixed position stop acceleration/deceleration time is input in the following timing.
• Positioning start
• Speed change request (CHGVS)
• Fixed position stop command ON

• When the positioning to specified address completes, the "[St.341] Command generation axis positioning complete signal
(M9801+20n)" turns ON. It does not turn on at the time of stop by the "[Rq.341] Command generation axis stop command
(M10960+20n)"/"[Rq.342] Command generation axis rapid stop command (M10961+20n)". The "[St.341] Command
generation axis positioning complete signal (M9801+20n)" turns off at leading edge of "[Rq.345] Command generation axis
complete signal OFF command (M10964+20n)" or positioning start.

4 INPUT AXIS MODULE

4.2 Command Generation Axis 37
 • Speed change can be executed any number of times by the speed change request (CHGVS) instruction during operation.
• Deceleration speed by the "[Rq.341] Command generation axis stop command (M10960+20n)"/"[Rq.342] Command
generation axis rapid stop command (M10961+20n)" is controlled with fixed inclination (deceleration speed). Deceleration
processing is executed using the speed limit value or deceleration/rapid stop deceleration time set in the parameter block.
• When the fixed position stop command turns on, the command in-position check starts. When the absolute value of
difference between the setting address and feed current value below the "[Pr.344] Command generation axis command in-
position range" set in the command generation axis parameter, the "[St.342] Command generation axis command in-
position (M9803+20n)" turns on. The "[St.342] Command generation axis command in-position (M9803+20n)" turns OFF by
a positioning start.
• A positioning control is executed the speed specified with the speed limit value when the fixed position stop command turns
on with speed "0" (before PVF instruction execution/at speed change to speed "0" during PVF instruction execution).

4 INPUT AXIS MODULE

38 4.2 Command Generation Axis
Command generation axis parameters
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.340 Command generation Set the invalid/valid of command 0: Invalid At power 0 
axis valid setting generation to be used. 1: Valid supply ON
Pr.341 Command generation Set the unit of command generation 0: mm 3 
axis unit setting axis. 1: inch
2: degree
3: pulse
Pr.342 Command generation Set the upper stroke limit of command -2147483648 to 2147483647 0 
axis upper stroke limit generation axis. (degree: 0 to 35999999)
[Command generation axis
position units]*1
4
Pr.343 Command generation Set the lower stroke limit of command -2147483648 to 2147483647 0 
axis lower stroke limit generation axis. (degree: 0 to 35999999)
[Command generation axis
position units]*1
Pr.344 Command generation Set the in-position range of command 1 to 2147483647 100 
axis command in- generation axis. [Command generation axis
position range position units]*1
Pr.345 Command generation Set whether the positioning control is 0: Invalid 0 
axis speed control executed with a value 10×multiplier the 1: Valid
10multiplier setting speed of a command speed setting,
for degree axis when a control unit is degree axis.
Pr.346 Command generation Set the length per cycle of command 0: Invalid 0 
axis length per cycle generation axis. 1 to 2147483647
[Command generation axis
position units]*1
Pr.347 Command generation Set the speed limit value at the JOG 1 to 2147483647 20000 
axis JOG speed limit operation of command generation axis. [Command generation axis speed
value units]*2
Pr.348 Command generation Set the parameter block No. to be used 1 to 64 At JOG 1 D14682+4n
axis JOG operation at the JOG operation of command operation
parameter block generation axis. start
setting
Pr.349 Command generation Set the bit device to enable the change Bit device*4 At power  Optional
axis acceleration/ of acceleration/ deceleration time at a supply ON device
deceleration time speed change request.
change enable
device*3
Pr.350 Command generation Set the word device to set the change Word device*4  Optional
axis new acceleration value of acceleration time. device
time value device*3
Pr.351 Command generation Set the word device to set the change Word device*4  Optional
axis new deceleration value of deceleration time. device
time value device*3
Pr.352 Command generation Set the word device to set the Word device*4 At program  Optional
axis ABS direction in positioning direction when the degree start*5 device
degrees device*3 axis is positioning by the absolute
system.
Pr.353 Command generation Set the word device to set the override Word device*4 Operation  Optional
axis override ratio ratio. cycle device
setting device

*1 Command generation axis position units (Page 37 Command generation axis position units)
*2 Command generation axis speed units (Page 37 Command generation axis speed units)
*3 This setting can be omitted.
*4 Refer to the following for the setting range of usable devices.
 MELSEC iQ-R Motion controller Programming Manual (Common)
*5 During position follow-up control, the values of devices that were indirectly set at the change of the positioning address are input again.

4 INPUT AXIS MODULE

4.2 Command Generation Axis 39
 [Pr.340] Command generation axis valid setting
Set the invalid/valid of command generation axis.
Setting value Description
0: Invalid Command generation axis is invalid.
1: Valid Command generation axis is valid.

[Pr.341] Command generation axis unit setting

Set the unit of command generation axis. (Page 37 Units for the command generation axis)

[Pr.342] Command generation axis upper stroke limit

Set the upper limit for the command generation axis travel range.
To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value".

[Pr.343] Command generation axis lower stroke limit

Set the lower limit for the command generation axis travel range.
To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value".

[Pr.344] Command generation axis command in-position range

Set the output range for the in-position signal of command generation axis.

[Pr.345] Command generation axis speed control 10multiplier setting for degree axis
Set whether the positioning control is executed with a value 10multiplier the speed of a command speed setting, when a unit
setting of control generation axis is degree.
Setting value Command generation axis speed unit Range
0: Invalid 10-3degree/min -2147483.648 to 2147483.647[degree/min]
1: Valid 10-2degree/min -21474836.48 to 21474836.47[degree/min]

[Pr.346] Command generation axis length per cycle

Set the length per cycle for the command generation axis current value per cycle.
The current value of command generation axis is stored in "[Md.347] Command generation axis current value per cycle
(D12610+20n, D12611+20n)" at ring counter based on the setting value.
The unit settings are in command generation axis position units. (Page 37 Command generation axis position units)
Set within the range from "1 to 2147483647".
When "0" is set, "[Md.347] Command generation axis current value per cycle (D12610+20n, D12611+20n)" is not updated.

[Pr.347] Command generation axis JOG speed limit value

Set the maximum speed the JOG operation of command generation axis.

[Pr.348] Command generation axis JOG operation parameter block setting (D14682+4n)
Set the parameter block No. to be used at the JOG operation of command generation axis.

4 INPUT AXIS MODULE

40 4.2 Command Generation Axis
[Pr.349] Command generation axis acceleration/deceleration time change enable
device
Set the device to enable the change of acceleration/deceleration time at a command generation axis speed change request
(CHGVS, M(P).CHGVS/D(P).CHGVS).
This setting can be omitted.
The following describes the operation for ON and OFF of the acceleration/deceleration time change enable device.
Setting value Description
ON Speed change is executed at a speed change request by changing the acceleration/deceleration time values of "[Pr.350] Command
generation axis new acceleration time value device" and "[Pr.351] Command generation axis new deceleration time value device".
OFF Does not change acceleration/deceleration time at a speed change request.

Refer to the following for the setting range of usable bit devices. 4
MELSEC iQ-R Motion controller Programming Manual (Common)

[Pr.350] Command generation axis new acceleration time value device

Set the device to set the change value when changing the acceleration time at a speed change request.
This setting can be omitted.
The following change values are set in the new acceleration time value device.
Setting value Description
1 to 8388608[ms] If a speed change request is executed when the "[Pr.349] Command generation axis acceleration/deceleration time change enable
device" is ON, speed change is executed by changing the acceleration time to the set value.
Other than the above Acceleration time change is disabled, and speed change is maintained at the current acceleration time.

Refer to the following for the setting range of usable word devices.
MELSEC iQ-R Motion controller Programming Manual (Common)

[Pr.351] Command generation axis new deceleration time value device

Set the device to set the change value when changing the deceleration time at a speed change request.
This setting can be omitted.
The following change values are set in the new deceleration time value device.
Setting value Description
1 to 8388608[ms] If a speed change request is executed when the "[Pr.349] Command generation axis acceleration/deceleration time change enable
device" is ON, speed change is executed by changing the acceleration time to the set value.
Other than the above Acceleration time change is disabled, and speed change is maintained at the current acceleration time.

Refer to the following for the setting range of usable word devices.
MELSEC iQ-R Motion controller Programming Manual (Common)

• When the setting of "[Pr.349] Command generation axis acceleration/deceleration time change enable
device" is omitted, change of acceleration/deceleration time at a speed change request is not executed.
When changing acceleration/deceleration time at a speed change, set this parameter.
• When the setting of "[Pr.350] Command generation axis new acceleration time value device" and "[Pr.351]
Command generation axis new deceleration time value device" is omitted, change of acceleration/
deceleration time of the omitted devices is not executed.

4 INPUT AXIS MODULE

4.2 Command Generation Axis 41
 [Pr.352] Command generation axis ABS direction in degrees device
By setting the positioning direction, positioning control can be performed in a specified direction.
Refer to the following for details on ABS direction in degrees device.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

[Pr.353] Command generation axis override ratio setting device

Set the device to set the override ratio for the override function.
Refer to the following for details on override ratio setting device.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

4 INPUT AXIS MODULE

42 4.2 Command Generation Axis
Command generation axis control data (Word device)
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Cd.340 Command generation Set the JOG speed of command 1 to 2147483647 At JOG 0 D14680+4n
axis JOG speed generation axis. [Command generation axis speed operation D14681+4n
setting units]*1 start

*1 Command generation axis speed units (Page 37 Command generation axis speed units)

[Cd.340] Command generation axis JOG speed setting (D14680+4n, D14681+4n)

Set the JOG speed of command generation axis.

Command generation axis control data (Bit device) 4

Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Rq.341 Command generation Set the stop command of command ON: Stop requested Operation OFF M10960+20n
axis stop command generation axis. OFF: Stop not requested cycle
Rq.342 Command generation Set the rapid stop command of ON: Rapid stop requested OFF M10961+20n
axis rapid stop command generation axis. OFF: Rapid stop not requested
command
Rq.343 Command generation Set the forward rotation JOG start ON: Forward rotation started Main cycle OFF M10962+20n
axis forward rotation command of command generation axis. OFF: Forward rotation not started
JOG start command
Rq.344 Command generation Set the reverse rotation JOG start ON: Reverse rotation started OFF M10963+20n
axis reverse rotation command of command generation axis. OFF: Reverse rotation not started
JOG start command
Rq.345 Command generation Set the complete signal OFF command ON: Complete signal is turned OFF M10964+20n
axis complete signal of command generation axis. OFF
OFF command
Rq.346 Command generation Set the error reset command of ON: Error is reset OFF M10967+20n
axis error reset command generation axis.
command
Rq.347 Feed current value Set whether update the feed current ON: Feed current value is At start OFF M10972+20n
update request value in speed control of command updated.
command generation axis or not. OFF: Feed current value is 0
cleared and not updated at
start.
Rq.348 Command generation Set the FIN signal of command OFF to ON: M code outputting Operation OFF M10979+20n
axis FIN signal generation axis. signal is turned OFF. cycle
ON to OFF: Transition to the
positioning of next block.

[Rq.341] Command generation axis stop command (M10960+20n)

This command is a signal which stop a starting command generation axis from an external source and becomes effective at
leading edge of signal. (A command generation axis for which the stop command is turning on cannot be started.)
The operation at stop command input is the same as the "[Rq.1140] Stop command (M3200+20n)" of each axis.
Refer to the following for details of "[Rq.1140] Stop command (M3200+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[Rq.342] Command generation axis rapid stop command (M10961+20n)

This command stops a starting command generation axis rapidly from an external source and becomes effective at leading
edge of signal. (A command generation axis for which the rapid stop command is turning on cannot be started.)
The operation at rapid stop command input is the same as the "[Rq.1141] Rapid stop command (M3201+20n)" of each axis.
Refer to the following for details of "[Rq.1141] Rapid stop command (M3201+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

4 INPUT AXIS MODULE

4.2 Command Generation Axis 43
 [Rq.343] Command generation axis forward rotation JOG start command (M10962+20n)
JOG operation to the address increase direction is executed while "[Rq.343] Command generation axis forward rotation JOG
start command (M10962+20n)" is turning on. When "[Rq.343] Command generation axis forward rotation JOG start command
(M10962+20n)" is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
The operation at forward rotation JOG start command input is the same as the "[Rq.1142] Forward rotation JOG start
command (M3202+20n)" of each axis.
Refer to the following for details of "[Rq.1142] Forward rotation JOG start command (M3202+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[Rq.344] Command generation axis reverse rotation JOG start command (M10963+20n)
JOG operation to the address decrease direction is executed while "[Rq.344] Command generation axis reverse rotation JOG
start command (M10963+20n)" is turning on. When "[Rq.344] Command generation axis reverse rotation JOG start command
(M10963+20n)" is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
The operation at reverse rotation JOG start command input is the same as the "[Rq.1143] Reverse rotation JOG start
command (M3203+20n)" of each axis.
Refer to the following for details of "[Rq.1143] Reverse rotation JOG start command (M3203+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[Rq.345] Command generation axis complete signal OFF command (M10964+20n)

This command is used to turn off the "[St.340] Command generation axis positioning start complete (M9800+20n)" and
"[St.341] Command generation axis positioning complete (M9801+20n)".
The operation at complete signal OFF command input is the same as the "[Rq.1144] Complete signal OFF command
(M3204+20n)" of each axis.
Refer to the following for details of "[Rq.1144] Complete signal OFF command (M3204+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[Rq.346] Command generation axis error reset command (M10967+20n)

This command is used to clear the "[Md.341] Command generation axis minor error code (D12602+20n)" and "[Md.342]
Command generation axis major error code (D12603+20n)" storage register of a command generation axis for which the error
detection signal has turn on "[St.344] Command generation axis error detection signal (M9807+20n)": ON), and reset the
[St.344] Command generation axis error detection signal (M9807+20n).

[Rq.347] Feed current value update request command (M10972+20n)

This signal is used to set whether the feed current value will be updated or not at the speed control of command generation
axis.
ON/OFF state is loaded at speed control start.
Setting value Description
ON The feed current value is updated.
OFF The feed current value is cleared at start and is not updated.

[Rq.348] Command generation axis FIN signal (M10979+20n)

When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows:
OFF ON OFF. Positioning to the next block begins after the FIN signal changes as above.
It is valid, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.
The operation at FIN signal input is the same as the "[Rq.1159] FIN signal (M3219+20n)" of each axis.
Refer to the following for details of "[Rq.1159] FIN signal (M3219+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

4 INPUT AXIS MODULE

44 4.2 Command Generation Axis
Command generation axis monitor data (Word device)
Symbol Monitor item Storage details Monitor value Refresh Device No.
cycle
Md.340 Command generation axis feed The feed current value for the command -2147483648 to 2147483647 Operation D12600+20n
current value generation axis is stored. [Command generation axis cycle D12601+20n
position units]*1
Md.341 Command generation axis The warning code for the command Warning code*2 Immediate D12602+20n
warning code generation axis is stored.
Md.342 Command generation axis error The error code for the command Error code*2 D12603+20n
code generation axis is stored.
Md.343 Command generation axis The execute program No. for the 0 to 4095 : Servo program No. At start D12604+20n
execute program No. command generation axis is stored. -1(HFFFF): JOG operation
256(HFF00): Power supply ON 4
-32(HFFE0): Current value
change execution by the
Motion dedicated instruction
-31(HFFE1): Direct positioning
start by the Motion
dedicated instruction
Md.344 Command generation axis M- The M-code for the command generation 0 to 32767 Operation D12605+20n
code axis is stored. cycle
Md.345 Command generation axis The accumulative current value for the -2147483648 to 2147483647 D12606+20n
accumulative current value command generation axis is stored. [Command generation axis D12607+20n
position units]*1
Md.346 Command generation axis data The data set pointer for continuous 0 to 32767 At start/ D12609+20n
set pointer for continuous trajectory control for the command during start
trajectory control generation axis is stored.
Md.347 Command generation axis The current value per cycle for the 0 to (Command generation axis Operation D12610+20n
current value per cycle command generation axis is stored. length per cycle -1) cycle D12611+20n
[Command generation axis
position units]*1
Md.348 Command generation axis The command speed for the command -2147483648 to 2147483647 D12612+20n
command speed generation axis is stored. [Command generation axis speed D12613+20n
units]*3

*1 Command generation axis position units (Page 37 Command generation axis position units)
*2 Refer to the following for details.
MELSEC iQ-R Motion Controller Programming Manual (Common)
*3 Command generation axis speed units (Page 37 Command generation axis speed units)

[Md.340] Command generation axis feed current value (D12600+20n, D12601+20n)

The feed current value for the command generation axis is stored in command generation axis position units (Page 37
Command generation axis position units)

[Md.341] Command generation axis warning code (D12602+20n)

• This register stores the corresponding warning code at the warning occurrence of command generation axis. If another
warning occurs after warning code storing, the previous warning code is overwritten by the new warning code.
• Warning codes can be cleared by a "[Rq.346] Command generation axis error reset command (M10967+20n)".

Refer to the following for details of warning codes.

MELSEC iQ-R Motion controller Programming Manual (Common)

4 INPUT AXIS MODULE

4.2 Command Generation Axis 45
 [Md.342] Command generation axis error code (D12603+20n)
• This register stores the corresponding error code at the error occurrence of command generation axis. If another error
occurs after error code storing, the previous error code is overwritten by the new error code.
• Error codes can be cleared by a "[Rq.346] Command generation axis error reset command (M10967+20n)".

Refer to the following for details of error codes.

MELSEC iQ-R Motion controller Programming Manual (Common)

[Md.343] Command generation axis execute program No. (D12604+20n)

This register stores the starting program No. of command generation axis at the servo program starting.

[Md.344] Command generation axis M-code (D12605+20n)

This register stores the M-code set to the executed servo program of command generation axis at the positioning start.
If M-code is not set in the servo program, the value "0" is stored.

[Md.345] Command generation axis accumulative current value (D12606+20n,

D12607+20n)
The accumulative current value of a command generation axis is stored in command generation axis position units.
(Page 37 Command generation axis position units)
For the axis where the unit setting is other than "degree", this will be "feed current value = accumulative current value".

[Md.346] Command generation axis data set pointer for control (D12609+20n)
This pointer is used in the continuous trajectory control of command generation axis when specifying positioning data
indirectly and substituting positioning data during operation.
The details operation is the same as "[Md.1011] Data set pointer for continuous trajectory control (D15+20n)" of each axis.
Refer to the following for details of "[Md.1011] Data set pointer for continuous trajectory control (D15+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[Md.347] Command generation axis current value per cycle (D12610+20n, D12611+20n)
The current value per cycle for a command generation axis is stored in the range from "0 to ([Pr.346] Command generation
axis length per cycle-1)".
The unit is command generation axis position units. (Page 37 Command generation axis position units)

[Md.348] Command generation axis command speed (D12612+20n, D12613+20n)

The command speed for a command generation axis is stored in command generation axis speed units. (Page 37
Command generation axis speed units)

4 INPUT AXIS MODULE

46 4.2 Command Generation Axis
Command generation axis monitor data (Bit device)
Symbol Monitor item Storage details Monitor value Refresh Device No.
cycle
St.340 Command generation axis The positioning start complete signal for ON: Positioning start complete Operation M9800+20n
positioning start complete the command generation axis is stored. OFF: Positioning start incomplete cycle
St.341 Command generation axis The positioning complete signal for the ON: Positioning complete M9801+20n
positioning complete command generation axis is stored. OFF: Positioning incomplete
St.342 Command generation axis The command in-position signal for the ON: Less than the command in- M9803+20n
command in-position command generation axis is stored. position range
OFF: Outside the command in-
position range
St.343 Command generation axis speed The speed controlling signal for the ON: Speed control M9804+20n
controlling command generation axis is stored. OFF: Control other than speed 4
control
St.344 Command generation axis error The error detection signal for the ON: Error occurred Immediate M9807+20n
detection command generation axis is stored. OFF: No error
St.345 Command generation axis start The start accept flag for the command ON: Starting Operation M9810+20n
accept flag generation axis is stored. OFF: Not started cycle
St.346 Command generation axis speed The speed change accepting flag for the ON: Speed change accepting M9811+20n
change accepting flag command generation axis is stored. OFF: Speed change not
accepting
St.347 Command generation axis speed The speed change "0" accepting flag for ON: Speed change "0" accepting M9812+20n
change "0" accepting flag the command generation axis is stored. OFF: Speed change "0" not
accepting
St.348 Command generation axis The automatic decelerating flag for the ON: Automatic deceleration M9813+20n
automatic decelerating flag command generation axis is stored. OFF: No automatic deceleration
St.349 Command generation axis M- The M-code outputting flag for the ON: M code outputting M9819+20n
code outputting command generation axis is stored. OFF: M code not outputting

[St.340] Command generation axis positioning start complete (M9800+20n)

This signal turns on with the start completion for the positioning control of the command generation axis specified with the
servo program.
It does not turn on at the starting using JOG operation or speed control.
It can be used to read a M-code at the positioning start.
The details operation is the same as "[St.1060] Positioning start complete (M2400+20n)" of each axis.
Refer to the following for details of "[St.1060] Positioning start complete (M2400+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[St.341] Command generation axis positioning complete (M9801+20n)

This signal turns on with the completion of the positioning control for the command generation axis specified with the servo
program.
It does not turn on at the start or stop on the way using JOG operation or speed control.
It does not turn on at the stop on the way during positioning.
It can be used to read a M-code at the positioning completion.
The details operation is the same as "[St.1061] Positioning complete (M2401+20n)" of each axis.
Refer to the following for details of "[St.1061] Positioning complete (M2401+20n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

4 INPUT AXIS MODULE

4.2 Command Generation Axis 47
 [St.342] Command generation axis command in-position (M9803+20n)
This signal turns on when the absolute value of difference between the command position and feed current value becomes
below the "[Pr.344] Command generation axis command in-position range".
This signal turns off in the following cases.
• Positioning control start
• Speed control
• JOG operation
The details operation is the same as “[St.1063] Command in-position (M2403+20n)” of each axis.
Refer to the following for details of “[St.1063] Command in-position (M2403+20n)”.
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[St.343] Command generation axis speed controlling (M9804+20n)

• This signal turns on during speed control of command generation axis, and can be used to judge whether command
generation axis is during speed control or position control.
• This signal turns off at the power supply on and during position control.

[St.344] Command generation axis error detection (M9807+20n)

• This signal turns on with detection of a warning or error of command generation axis, and can be used to judge whether
there is a warning or error or not. The applicable warning code is stored in the "[Md.341] Command generation axis warning
code (D12602+20n)" with detection of a warning. The applicable error code is stored in the "[Md.342] Command generation
axis error code (D12603+20n)" with detection of an error.
• This signal turns off when the "[Rq.346] Command generation axis error reset command (M10967+20n)" turns on.

Refer to the following for the warning codes and error codes with detection of warnings and errors.
MELSEC iQ-R Motion controller Programming Manual (Common)

[St.345] Command generation axis start accept flag (M9810+20n)

This flag turns on when the servo program of command generation axis is started. The start accept flag corresponding to an
axis specified with the servo program turns on.
The details operation is the same as "[St.1040] Start accept flag (M2001+n)" of each axis.
Refer to the following for details of "[St.1040] Start accept flag (M2001+n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[St.346] Command generation axis speed change accepting flag (M9811+20n)

This flag turns on at the start of speed change of command generation axis by the control change (CHGVS) instruction of the
Motion SFC program or Motion dedicated PLC instruction (M(P).CHGVS/D(P).CHGVS).

[St.347] Command generation axis speed change "0" accepting flag (M9812+20n)
This flag turns on while the command generation axis is accepting a speed change request to speed "0" or negative speed
change request.
The details operation is the same as "[St.1049] Speed change "0" accepting flag (M2240+n)" of each axis.
Refer to the following for details of "[St.1049] Speed change "0" accepting flag (M2240+n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

4 INPUT AXIS MODULE

48 4.2 Command Generation Axis
[St.348] Command generation axis automatic decelerating flag (M9813+20n)
This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up
control of command generation axis.
The details operation is the same as "[St.1048] Automatic decelerating flag (M2128+n)" of each axis.
Refer to the following for details of "[St.1048] Automatic decelerating flag (M2128+n)".
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

[St.349] Command generation axis M-code outputting (M9819+20n)

• This signal turns on during M-code output of command generation axis.
• This signal turns off when the stop command, cancel signal, skip signal or FIN signal are inputted.
4

4 INPUT AXIS MODULE

4.2 Command Generation Axis 49
 4.3 Synchronous Encoder Axis
Overview of synchronous encoder axis
The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected
externally.
The status of a synchronous encoder axis can also be monitored after the Multiple CPU system power supply turns ON.
Input pulse
[Pr.320] Synchronous encoder axis
of synchronous
type
encoder

Counter disable/
Counter enable

[Pr.321] Synchronous encoder axis

unit setting
[Pr.322] Synchronous encoder axis
Unit conversion
unit conversion: Numerator
[Pr.323] Synchronous encoder axis
unit conversion: Denominator

[Pr325] Synchronous encoder axis Input smoothing

smoothing time constant processing

[Pr.326] Synchronous encoder axis

phase compensation advance time
Phase [Md.323] Synchronous encoder axis
(D14820+10n, D14821+10n)
compensation phase compensation amount
[Pr.327] Synchronous encoder
processing (D13246+20n, D13247+20n)
axis phase compensation
time constant

[Md.324] Synchronous encoder axis

[Pr.328] Synchronous encoder axis Rotation direction
rotation direction restriction amount
rotation direction restriction restriction
(D13248+20n, D13249+20n)
[Md.320] Synchronous encoder axis
Current value change current value
(D13240+20n, D13241+20n)
[Md.321] Synchronous encoder axis
[Pr.324] Synchronous encoder axis Current value
current value per cycle
length per cycle of synchronous
(D13242+20n, D13243+20n)
encoder axis
[Md.322] Synchronous encoder
axis speed
(D13244+20n, D13245+20n)

4 INPUT AXIS MODULE

50 4.3 Synchronous Encoder Axis
Synchronous encoder axis type
The following 6 types of synchronous encoders can be used for the synchronous encoder axis.
Refer to setting method for synchronous encoder for the setting method for each synchronous encoder axis. (Page 53
Setting method for synchronous encoder)
Synchronous encoder axis type Details
Via module The encoder value is acquired via a module controlled by Motion CPU.
Used to operate an encoder that is connected to a high-speed counter module, etc. as the synchronous
encoder axis.
Via servo amplifier The serial absolute synchronous encoder (Q171ENC-W8) and absolute/incremental scale connected to
CN2L of the servo amplifier (MR-J4-B-RJ)*1 (Axis 1 to 32) is used as the synchronous encoder axis.
Via device The encoder value is loaded via Motion CPU device.
Used to operate a gray code encoder that is connected to the input module as the synchronous encoder
axis.
4
Multiple CPU Master CPU servo input axis Used to operate the servo input axis of the master CPU (axis 1 to axis 32) as the synchronous encoder axis.
advanced
Master CPU command Used to operate the command generation axis of the master CPU (axis 1 to axis 32) as the synchronous
synchronous generation axis encoder axis.
control*2
Master CPU synchronous Used to operate the synchronous encoder axis of the master CPU (axis 1 to axis 12) as the synchronous
encoder axis encoder axis.

*1 Use software version B0 or later for the servo amplifier (MR-J4-B-RJ) which connects the synchronous encoder.
*2 Can be set when operating as a slave CPU in a Multiple CPU advanced synchronous control configuration. (Multiple CPU
Advanced Synchronous Control)

Control method for synchronous encoder axis

The following controls can be executed for the synchronous encoder axis by using "[Rq.320] Synchronous encoder axis
control request (M11601+4n)" and "[Cd.321] Synchronous encoder axis control method (D14823+10n)".
Setting value of "[Cd.321] Control details
Synchronous encoder axis
control method (D14823+10n)"
0: Current value change "[Md.320] Synchronous encoder axis current value (D13240+20n, D13241+20n)" and "[Md.321] Synchronous
encoder axis current value per cycle (D13242+20n, D13243+20n)" are changed based on the setting of "[Cd.322]
Synchronous encoder axis current value setting address (D14824+10n, D14825+10n)".
1: Counter disable Input from the synchronous encoder is disabled.
2: Counter enable Input from the synchronous encoder is enabled.

Units for the synchronous encoder axis

The position units and speed units for the synchronous encoder axis are shown below for the setting of "[Pr.321] Synchronous
encoder axis unit setting".

■Synchronous encoder axis position units

Setting value of "[Pr.321] Synchronous encoder axis Synchronous encoder axis Range
unit setting" position unit
Control unit Number of decimal
places for position
0: mm 0 mm -2147483648 to 2147483647[mm]
  
9 10-9mm -2.147483648 to 2.147483647[mm]
1: inch 0 inch -2147483648 to 2147483647[inch]
  
-9
9 10 inch -2.147483648 to 2.147483647[inch]
2: degree 0 degree -2147483648 to 2147483647[degree]
  
9 10-9degree -2.147483648 to 2.147483647[degree]
3: pulse 0 pulse -2147483648 to 2147483647[pulse]
  
9 10-9pulse -2.147483648 to 2.147483647[pulse]

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 51
 ■Synchronous encoder axis speed units
Setting value of "[Pr.321] Synchronous encoder axis Synchronous encoder axis Range
unit setting" speed unit
Control unit Speed time unit Number of decimal
places for speed
0: mm 0: s 0 mm/s -2147483648 to 2147483647[mm/s]
  
9 10-9mm/s -2.147483648 to 2.147483647[mm/s]
1: min 0 mm/min -2147483648 to 2147483647[mm/min]
  
9 10-9mm/min -2.147483648 to 2.147483647[mm/min]
1: inch 0: s 0 inch/s -2147483648 to 2147483647[inch/s]
  
9 10-9inch/s -2.147483648 to 2.147483647[inch/s]
1: min 0 inch/min -2147483648 to 2147483647[inch/min]
  
9 10-9inch/min -2.147483648 to 2.147483647[inch/min]
2: degree 0: s 0 degree/s -2147483648 to 2147483647[degree/s]
  
9 10-9degree/s -2.147483648 to 2.147483647[degree/s]
1: min 0 degree/min -2147483648 to 2147483647[degree/min]
  
9 10-9degree/min -2.147483648 to 2.147483647[degree/min]
3: pulse 0: s 0 pulse/s -2147483648 to 2147483647[pulse/s]
  
9 10-9pulse/s -2.147483648 to 2.147483647[pulse/s]
1: min 0 pulse/min -2147483648 to 2147483647[pulse/min]
  
9 10-9pulse/min -2.147483648 to 2.147483647[pulse/min]

Data refresh cycle of synchronous encoder axis

The data refresh cycle of the synchronous encoder input travel value is as follows depending on the setting for "[Pr.320]
Synchronous encoder axis type".
[Pr.320] Synchronous encoder Refresh cycle Remarks
axis type
Via module The longer of the operation cycle and inter-module Refer to the following for the setting of inter-module
synchronization cycle. synchronization cycle.
(The operation cycle when inter-module MELSEC iQ-R Motion controller Programming Manual
synchronization is not used) (Common)
Via servo amplifier Operation cycle 1.777[ms] or less: Operation cycle
Operation cycle 3.555[ms] or more: 3.555[ms]
Via device Operation cycle

4 INPUT AXIS MODULE

52 4.3 Synchronous Encoder Axis
Setting method for synchronous encoder

Via module
■Setting method
Used to operate an encoder that is connected to a high-speed counter module, etc. controlled by Motion CPU as the
synchronous encoder axis.
By setting "1: Via module" in "[Pr.320] Synchronous encoder axis type", and setting "[Pr.331] I/O number" and "[Pr.332]
Channel number" of a module, the encoder value is acquired via the module controlled by the Motion CPU and controls the
synchronous encoder axis.
The encoder value can be used as a cycle counter within the range from 0 to (Resolution of synchronous encoder via module/
device - 1). 4
Connect the synchronous encoder to the I/O number, channel number assigned to high-speed counter module set in GX
Works3.
When the synchronous encoder axis connection is valid after Multiple CPU system's power supply ON, "Synchronous
encoder axis current value", "Synchronous encoder axis current value per cycle" and "Counter enabling status" will be as
follows.
Connection method [Md.320] Synchronous encoder axis [Md.321] Synchronous encoder axis Counter enable/
current value (D13240+20n, current value per cycle (D13242+20n, Counter disable
D13241+20n) D13243+20n)
High-speed counter module 0 0 Counter enable

■Setting of high-speed counter module

Set the high-speed counter module which connects the synchronous encoder as follows.
• Setting of GX Works3
Set the self Motion CPU as the control CPU in control CPU setting.
[System Parameter]  [I/O Assignment Setting]  "Control CPU Setting"
• Setting of MT Developer2
Set the following in the detailed settings of the module.
Press the "Detail" button in "Setting item" in [R Series Common Parameter]  [Module Configuration List]
Setting item Details
Counter type Set to "Ring counter".
Counter operation mode Set to "Pulses counter mode".

If a fault is detected when the above setting is checked during initialization of a Motion CPU, a moderate error (error code:
30D1H) is output and the Motion CPU does not run.

Enabling the inter-module synchronization function for a high-speed counter module will reduce fluctuation of
the input speed.

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 53
 ■Setting example
The following shows an example for setting an incremental synchronous encoder via a high-speed counter module (I/O
number: 0040, channel number:1) as synchronous encoder axis 2.
High-speed
R32MTCPU counter module

Incremental
synchronous
encoder
(Resolution 1024)
Synchronous encoder
axis 2

Axis 1 Axis 2 Axis 3

Set the following in Synchronous encoder axis settings for synchronous encoder axis 2 on the synchronous encoder axis
parameter screen.
Setting item Setting value
[Pr.320] Synchronous encoder axis type 1: Via Module
[Pr.331] I/O number H0040
[Pr.332] Channel number 1

[Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder
Axis Parameter]

Window

4 INPUT AXIS MODULE

54 4.3 Synchronous Encoder Axis
Via servo amplifier
■Setting method
The serial absolute synchronous encoder (Q171ENC-W8) and absolute/incremental scale connected to CN2L of the servo
amplifier (MR-J4-B-RJ) is used as the synchronous encoder axis. Setting "101: Via servo amplifier" in "[Pr.320]
Synchronous encoder axis type" and "ABS" or "INC" in the "External synchronous encoder input" of amplifier setting enables
the serial absolute synchronous encoder connected to the specified servo amplifier axis to be used.
When a servo amplifier axis with a serial absolute synchronous encoder or ABS scale installed is connected, the synchronous
encoder axis connection becomes valid. The synchronous encoder axis current value and the synchronous encoder axis
current value per cycle are restored, and the synchronous encoder axis connection is on the counter enabling status. When a
servo amplifier axis with an incremental scale installed is connected, the synchronous encoder axis connection becomes
valid. 0 is set to the initial value of the synchronous encoder axis current value and the synchronous encoder axis current 4
value per cycle, and the synchronous encoder axis connection is on the counter enabling status. When the applicable servo
amplifier axis is not connected, the synchronous encoder axis connection is invalid.
For servo amplifiers performing "Via servo amplifier", use the software version that supports each encoder connected. The
software version that supports each encoder is shown in the table below.
Servo amplifier model Software version
MR-J4-B-RJ B0 or later

• Servo amplifiers with "ABS" or "INC" set to "External synchronous encoder input" of amplifier setting, have
servo parameter "Scale measurement function selection (PA22)" set. (When servo parameter "Scale
measurement function selection (PA22)" has been changed, after transmitting parameter to the servo
amplifier, the power supply of the servo amplifier must be turned OFF once, and turned ON again.)
• When a servo amplifier with servo parameter "Scale measurement function selection (PA22)" set does not
support "Scale measurement function", AL.37 (parameter error) occurs in the servo amplifier. Refer to the
following for details on servo parameter "Scale measurement function selection (PA22)".
 Servo amplifier Instruction Manual
• When the battery of the servo amplifier is disconnected, the serial absolute synchronous encoder
(Q171ENC-W8) can be used as an incremental system (INC) by setting "External synchronous encoder
input" of amplifier setting to "INC".

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 55
 ■Setting example
The following shows an example for setting a serial absolute synchronous encoder Q171ENC-W8 (servo amplifier axis 3) via
servo amplifier (MR-J4-B-RJ) as synchronous encoder axis 2.
R32MTCPU

Servo amplifier
MR-J4-B-RJ

Q171ENC-W8
Axis 1 Axis 2 Axis 3 (4194304pulse/rev)

Synchronous encoder
axis 2
• Set the following to servo amplifier in amplifier setting.
Setting item Setting value
Amplifier model MR-J4(W)-B(-RJ)
Amplifier Operation Mode Standard
External Synchronous Encoder Input ABS

[Motion CPU Common Parameter]  [Servo Network Setting]  "Amplifier Setting"

Window

4 INPUT AXIS MODULE

56 4.3 Synchronous Encoder Axis
• Set the following in synchronous encoder axis setting for the synchronous encoder axis 1 on the synchronous encoder axis
parameter screen.
Setting item Setting value
[Pr.320] Synchronous encoder axis type 101: Via Servo Amplifier
Connected Servo Amplifier Axis No. 3

[Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder
Axis Parameter]

Window

• Set servo parameter "Function selection C-8 (Load-side encoder communication method)" of servo amplifier 3 to "1: Four-
wire type".

• Set the axis No. (1 to 32) set in the amplifier setting for connected servo amplifier axis No.
• Turn ON the Multiple CPU system's and servo amplifier's power supply again to validate the set parameter
settings in the servo amplifier.

■Restrictions
• When optional data monitor is set to a servo amplifier axis selected as "101: Via servo amplifier" by "[Pr.320] Synchronous
encoder axis type", set the number of communication data points so that the total comes to 2 points or less per axis.
• When servo error (AL.25, AL.70, AL.71, AL.72) occurs in a servo amplifier axis selected as "101: Via servo amplifier" by
"[Pr.320] Synchronous encoder axis type", the servo amplifier axis is in a servo OFF state.
• The following cases are minor errors (error code: 1BAAH)
• When the servo amplifier axis selected as "101: Via servo amplifier" by "[Pr.320] Synchronous encoder axis type" does not support synchronous encoder via
servo amplifier.
• When a servo amplifier axis which has not been set by amplifier setting is set as the connected servo amplifier axis No. for the synchronous encoder via servo
amplifier.
• When a servo amplifier axis which has "External synchronous encoder input" set to "Invalid" in the amplifier setting is set as the connected servo amplifier
axis No. for the synchronous encoder via servo amplifier.

• When an incremental scale is connected to a servo amplifier which has "External synchronous encoder input" set to "ABS",
a servo error (AL.37) occurs, and the connected scale cannot be used as a synchronous encoder.
• When "Amplifier operation mode" is set to "Fully closed" for a servo amplifier axis that has "External synchronous encoder
input" set to "ABS", or "INC", a servo error (AL.37) occurs.

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 57
 Via device (Synchronous encoder value input of via device)
■Setting method
Used to operate a gray code encoder that is connected to the input module of the Motion CPU control as a synchronous
encoder axis.
By setting "201: Via device" in "[Pr.320] Synchronous encoder axis type", the synchronous encoder is controlled by the
encoder value which is the input value of "[Cd.325] Input value for synchronous encoder via device (D14826+10n,
D14827+10n)".
The encoder value can be used as a cycle counter within the range from 0 to (Resolution of synchronous encoder via device
- 1).
Connection is invalid just after the system's power supply is ON. When the "[Rq.324] Connection command of synchronous
encoder via device/master CPU (M11602+4n)" turns ON, the synchronous encoder axis current value and the synchronous
encoder axis current value per cycle are restored based on "[Cd.325] Input value for synchronous encoder via device
(D14826+10n, D14827+10n)". Therefore, connection becomes valid, and will be on the counter enabling status.
The synchronous encoder axis is controlled based on the amount of change of "[Cd.325] Input value for synchronous encoder
via device (D14826+10n, D14827+10n)" while it is connecting.

■Setting example
The following shows an example for setting a synchronous encoder via device as synchronous encoder axis 4.
R32MTCPU Input module

Gray code
encoder
(Resolution 4096)
Synchronous encoder
axis 4

Axis 1 Axis 2 Axis 3

Set the following in Synchronous encoder axis setting Resolution of synchronous encoder via device of synchronous encoder
axis 4 on the synchronous encoder axis parameter screen of MT Developer2.
Setting item Setting value
[Pr.320] Synchronous encoder axis type 201: Via Device"
[Pr.329] Resolution of synchronous encoder via device 4096

4 INPUT AXIS MODULE

58 4.3 Synchronous Encoder Axis
Read the encoder value of the gray code encoder with a sequence program, and update "[Cd.325] Input value for
synchronous encoder via device (D14826+10n, D14827+10n)" of the synchronous encoder axis 4 at every time.
[Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder
Axis Parameter]

Window

■Restrictions
The synchronous encoder current value that is restored for the synchronous encoder connection gets restored into a
converted value from the following range based on the synchronous encoder travel value on disconnection.
Setting value of "[Pr.329] Resolution of Range of restored synchronous encoder current value
synchronous encoder via device"
1 or more - (Resolution of synchronous encoder via device  2) to + (Resolution of synchronous encoder via
device  2 - 1)[pulse]
*: If the resolution of a synchronous encoder via device is an odd number, round down a negative
value after the decimal point, round up a positive value after decimal point.
0 -2147483648 to 2147483647[pulse]

Multiple CPU advanced synchronous control

Used to operate the servo input axis, command generation axis, and synchronous encoder axis of the master CPU as the
synchronous encoder axis.
By setting the input axis type of the master CPU in "[Pr.320] Synchronous encoder axis type" to the following, the change from
the master CPU is used as the input value for operating the synchronous encoder axis.
Refer to selection of slave CPU input axis type for details on the setting method. (Page 164 Selection of slave CPU input
axis type)
Input axis of the master CPU Setting value
Master CPU servo input axis 301: Master CPU servo input axis
Master CPU command generation axis 401: Master CPU command generation axis
Master CPU synchronous encoder axis 501: Master CPU synchronous encoder axis

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 59
 Synchronous encoder axis parameters
Symbol Setting item Setting details Setting value Setting Default Device No.
value value
Pr.320 Synchronous encoder • Set the synchronous encoder axis 0: Invalid At power 0 
axis type type to be used. 1: Via module supply ON
• When using as a slave CPU in 101: Via servo amplifier
Multiple CPU advanced synchronous (Connected servo amplifier
control, set the input axis of the axis No.: 1 to 32)
master CPU. 201: Via device
301: Master CPU servo input
axis (axis No.: 1 to 32 )
401: Master CPU command
generation axis (axis No.: 1
to 32 )
501: Master CPU synchronous
encoder axis (axis No.: 1 to
12 )
Pr.321 Synchronous encoder • Set the unit of the synchronous Control unit 3 
axis unit setting encoder axis. 0: mm
• Set the position unit within the range 1: inch
from 1 to 10-9 [control unit] 2: degree
• Set the speed unit within the range 3: pulse
from 1 to 10-9 [control unit/s or Number of decimal places 0
control unit/min].
0 to 9
Speed time unit 0
0: s
1: min
Number of decimal places for 0
speed
0 to 9
Pr.322 Synchronous encoder Set the numerator to convert the unit -2147483648 to 2147483647 1 
axis unit conversion: from the encoder pulse of the [Synchronous encoder axis
Numerator synchronous encoder axis into the position units]*1
synchronous encoder axis unit.
Pr.323 Synchronous encoder Set the denominator to convert the unit 1 to 2147483647[pulse] 1[pulse] 
axis unit conversion: from the encoder pulse of the
Denominator synchronous encoder axis into the
synchronous encoder axis unit.
Pr.324 Synchronous encoder Set the length per cycle of the 1 to 2147483647 4000 
axis length per cycle synchronous encoder axis. [Synchronous encoder axis
position units]*1
Pr.325 Synchronous encoder Set the time to smooth for the input 0 to 5000[ms] 0[ms] 
axis smoothing time value.
constant
Pr.326 Synchronous encoder Set the time to advance or delay the -2147483648 to 2147483647[s] Operation 0[s] D14820+10n
axis phase phase. cycle D14821+10n
compensation
advance time

4 INPUT AXIS MODULE

60 4.3 Synchronous Encoder Axis
Symbol Setting item Setting details Setting value Setting Default Device No.
value value
Pr.327 Synchronous encoder Set the time constant to affect the phase 0 to 65535[ms] At power 10[ms] 
axis phase compensation. supply ON
compensation time
constant
Pr.328 Synchronous encoder Set this parameter to restrict the input 0: Without rotation direction 0 
axis rotation direction travel value to one direction. restriction
restriction 1: Enable only for current value
increase direction
2: Enable only for current value
decrease direction
Pr.329 Resolution of • Set the resolution of the synchronous 0 to 2147483647[pulse] 0[pulse] 
synchronous encoder encoder when the synchronous
via device encoder axis type is set to via device.
• If 0 is set, the input value of
4
synchronous encoder via device is
processed as 32-bit counter.
Pr.331 I/I/O number Set the I/O number of the module that is • Set in hexadecimal. 0000h 
assigned to the high-speed counter H0000 to H0FF0
module when "Via module" is set in the *: Set in multiples of 16.
synchronous encoder axis type.
Pr.332 Channel number Set the channel number of the module 1 to 2 1 
that is assigned to the high-speed
counter module when "Via module" is
set in the synchronous encoder axis
type.

*1 Synchronous encoder axis position units (Page 51 Synchronous encoder axis position units)

[Pr.320] Synchronous encoder axis type

Set the type of synchronous encoder that will be the source for generating the input value for the synchronous encoder axis.
When operating as a slave CPU in a Multiple CPU advanced synchronous control configuration, set the input axis of the
master CPU.
Setting value Description
0: Invalid Synchronous encoder axis is invalid.
1: Via module Generate the input value based on the synchronous encoder input via module connected to the specified
module.
101: Via servo amplifier Generate the input value based on the synchronous encoder via servo amplifier input connected to the
specified servo amplifier (axis 1 to 32).
201: Via device Generate the input value with the value set in the "[Cd.325] Input value for synchronous encoder via device
(D14826+10n, D14827+10n)" as the encoder value.
301: Master CPU servo input axis*1 Generate the input value based on the change of the master CPU servo input axis (axis 1 to 32).
401: Master CPU command generation axis*1 Generate the input value based on the change of the master CPU command generation axis (axis 1 to 32).
501: Master CPU synchronous encoder axis*1 Generate the input value based on the change of the synchronous encoder axis (axis 1 to 12).

*1 Can be set when "Slave CPU" is selected in Multiple CPU advanced synchronous control CPU setting.

[Pr.321] Synchronous encoder axis unit setting

Set the position and speed unit of the synchronous encoder axis. (Page 51 Units for the synchronous encoder axis)

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 61
 [Pr.322] Synchronous encoder axis unit conversion: Numerator
The input travel value of synchronous encoder is configured in encoder pulse units.
The units can be arbitrarily converted through unit conversation with setting "[Pr.322] Synchronous encoder axis unit
conversion: Numerator".
Set "[Pr.322] Synchronous encoder axis unit conversion: Numerator" according to the controlled machine.
[Pr.322] Synchronous encoder axis
Synchronous encoder axis Synchronous encoder input
unit conversion: Numerator
travel value = travel value ×
[Pr.323] Synchronous encoder axis
(Travel value after unit conversion) (Encoder pulse units)
unit conversion: Denominator
The travel value in pulses set in "[Pr.323] Synchronous encoder axis unit conversion: Denominator" is set in "[Pr.322]
Synchronous encoder axis unit conversion: Numerator" in synchronous encoder axis position units. (Page 51
Synchronous encoder axis position units)
The input travel value can be reversed by the setting negative values.

[Pr.323] Synchronous encoder axis unit conversion: Denominator

The input travel value of synchronous encoder is configured in encoder pulse units.
The units can be arbitrarily converted through unit conversation with setting "[Pr.323] Synchronous encoder axis unit
conversion: Denominator".
Set "[Pr.323] Synchronous encoder axis unit conversion: Denominator" according to the controlled machine.
[Pr.322] Synchronous encoder axis
Synchronous encoder axis Synchronous encoder input
unit conversion: Numerator
travel value = travel value ×
[Pr.323] Synchronous encoder axis
(Travel value after unit conversion) (Encoder pulse units)
unit conversion: Denominator

Set "[Pr.323] Synchronous encoder axis unit conversion: Denominator" based on encoder pulse units from the synchronous
encoder.
Set a value within the range from 1 to 2147483647.

4 INPUT AXIS MODULE

62 4.3 Synchronous Encoder Axis
[Pr.324] Synchronous encoder axis length per cycle
Set the length per cycle for the synchronous encoder axis current value per cycle.
The current value of synchronous encoder axis is stored in "[Md.321] Synchronous encoder axis current value per cycle
(D13242+20n, D13243+20n)" at ring counter based on the setting value.
The unit settings are in synchronous encoder axis position units. (Page 51 Synchronous encoder axis position units)
Set a value within the range from 1 to 2147483647.

■Setting example of the unit conversion and the length per cycle
The following shows an example a rotary encoder is connected which resolution is 4000[pulse/rev] to the motor axis side on
the rotation table that drives by 1/5 pulley system, and the control unit is degree.
• Position unit: 0.1[degree]
• Speed unit: 0.001[degree/min] 4
• Length per cycle: 360.0[degree] (1 cycle of the rotation table)
Setting item Setting details Setting value
[Pr.321] Synchronous encoder Control unit 2: degree 3112h
axis unit setting
Number of decimal places for position 1
Speed time unit 1: min
Number of decimal places for speed 3
[Pr.322] Synchronous encoder axis unit conversion: Numerator 360.0 [degree]1 3600 [0.1degree]
[Pr.323] Synchronous encoder axis unit conversion: Denominator 4000 [pulse]5 20000 [pulse]
[Pr.324] Synchronous encoder axis length per cycle 360.0 [degree] 3600 [0.1degree]

Synchronous encoder [pulse]

input pulse
40000

[Pr.322], [Pr.323]
20000
Synchronous encoder
axis unit conversion
t

[Md.320] Synchronous encoder axis [×0.1degree]

current value
7200
(D13240+20n, D13241+20n)
3600
t

[Md.321] Synchronous encoder axis [×0.1degree]

current value per cycle [Pr.324] Synchronous encoder axis length per cycle
(D13242+20n, D13243+20n) 3600
t

[Md.322] Synchronous encoder axis [×0.001degree/min]

speed
(D13244+20n, D13245+20n)
(Speed after unit conversion) t

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 63
 [Pr.325] Synchronous encoder axis smoothing time constant
Set the averaging time to execute a smoothing process for the input travel value from synchronous encoder.The smoothing
process can moderate speed fluctuation of the synchronous encoder input.The input response is delayed depending on the
time corresponding to the setting by smoothing process setting.
Input value speed
before smoothing

t
Averaging by smoothing time constant
Input value speed
after smoothing

[Pr.325] Synchonous encoder axis [Pr.325] Synchonous encoder axis

smoothing time constant smoothing time constant

[Pr.326] Synchronous encoder axis phase compensation advance time (D14820+10n,

D14821+10n)
Set the time to advance or delay the phase (input response) of the synchronous encoder axis. Refer to delay time peculiar to
the system for a synchronous encoder axis for the peculiar time delay of the system using the synchronous encoder axis.
(Page 129 Delay time peculiar to the system for a synchronous encoder axis)
Setting value Description
1 to 2147483647 [s] Advance the phase (input response) according to the setting time.
0 [s] Do not execute phase compensation.
-2147483648 to -1 [s] Delay the phase (input response) according to the setting time.

If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set a longer time to affect the phase compensation amount in "[Pr.327] Synchronous encoder axis phase
compensation time constant".

[Pr.327] Synchronous encoder axis phase compensation time constant

Set the time constant to affect the phase compensation amount for the first order delay.
63[%] of the phase compensation amount are reflected in the time constant setting.
[Pr.326] Synchronous encoder axis phase compensation advance time
(D14820+10n, D14821+10n)
Synchronous encoder axis Current value after phase compensation
current value Current value before phase compensation

Speed before phase

compensation

Speed after phase

compensation

t
[Pr.326] Synchronous encoder axis
Speed before phase
× phase compensation advance time
compensation
[Md.323] Synchronous encoder (D14820+10n, D14821+10n)
axis phase compensation amount
63%
(D13246+20n, D13247+20n) 63%
t

[Pr.327] Synchronous encoder axis [Pr.327] Synchronous encoder axis

phase compensation time constant phase compensation time constantt

4 INPUT AXIS MODULE

64 4.3 Synchronous Encoder Axis
[Pr.328] Synchronous encoder axis rotation direction restriction
Set this parameter to restrict the input travel value for the synchronous encoder axis to one direction.This helps to avoid
reverse operation caused by machine vibration, etc. when "Real current value" or "Feedback value" is used as input values.
Setting value Description
0: Without rotation direction Rotation direction restriction is not executed.
restriction
1: Enable only for current value Enable only the input travel value in the increasing direction of the synchronous encoder axis current value.
increase direction
2: Enable only for current value Enable only the input travel value in the decreasing direction of the synchronous encoder axis current value.
decrease direction

The input travel value in the opposite direction of the enable direction accumulates as a rotation direction restricted amount,
and it will be reflected when the input travel value moves in the enabled direction again. Therefore, the current value of 4
synchronous encoder axis does not deviate when the reverse operation is repeated.
The rotation direction restricted amount is set to 0 at the synchronous encoder axis connection and current value change.
For "1: Enable only for current value increase direction" is set in "[Pr.328] Synchronous encoder
axis rotation direction restriction"
Speed before rotation direction
restriction

[Md.322] Synchronous encoder

axis speed
(D13244+10n, D13245+10n)
(Speed after rotation direction
t
restriction)
[Md.323] Synchronous encoder
axis rotation direction restriction t
amount
(D13248+20n, D13249+20n)
The input travel value is accumulated as a rotation
direction restricted amount, and will be reflected when
the input travel value moves in the enable direction.

[Pr.329] Resolution of synchronous encoder via device

Set the resolution of connected synchronous encoder when "201: Via device" is set in "[Pr.320] Synchronous encoder axis
type".
If 1 or more is set, "[Cd.325] Input value for synchronous encoder via device (D14826+10n, D14827+10n)" is processed as
the cycle counter within the range from 0 to (resolution of synchronous encoder via device-1).
If 0 is set, "[Cd.325] Input value for synchronous encoder via device (D14826+10n, D14827+10n)" is processed as 32 bit
counter within the range from -2147483648 to 2147483647.

When 1 or more is set to "[Pr.329] Resolution of synchronous encoder via device", set the cycle counter within
the range from "0 to (resolution of synchronous encoder via device-1)" to "[Cd.325] Input value for
synchronous encoder via device (D14826+10n, D14827+10n)" as the input value.

[Pr.331] I/O number

Set the I/O number of the module that is assigned to the high-speed counter module when "1: Via module" is set in "[Pr.320]
Synchronous encoder axis type".
Set a value within the range from "H0000 to H0FF0" in multiples of 16.

[Pr.332] Channel number

Set the channel number of the module that is assigned to the high-speed counter module when "1: Via module" is set in
"[Pr.320] Synchronous encoder axis type".
Set a value within the range from "1 to 2".

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 65
 Synchronous encoder axis control data (Word device)
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Cd.320 Synchronous encoder • If set to "101 to 164", the synchronous Other than below: Start without At 0 D14822+10n
axis control start encoder axis control starts based on any condition synchronous
condition the high-speed input request signal at 101 to 164: High-speed input encoder axis
synchronous encoder axis control request signal start (Signal control start
request ON. 1 to 64)
• In the case of other than the above,
the control starts without any condition
at synchronous encoder axis control
request OFF to ON.
Cd.321 Synchronous encoder Set the control method for the 0: Current value change 0 D14823+10n
axis control method synchronous encoder axis. 1: Counter disable
2: Counter enable
Cd.322 Synchronous encoder Set a new current value for changing the -2147483648 to 2147483647 0 D14824+10n
axis current value current value. [Synchronous encoder axis D14825+10n
setting address position units]*1
Cd.325 Input value for Set a value to be used every time as the -2147483648 to 2147483647 Operation 0 [pulse] D14826+10n
synchronous encoder input value for the synchronous encoder [pulse] cycle D14827+10n
via device for the synchronous encoder via device.

*1 Synchronous encoder axis position units. (Page 51 Synchronous encoder axis position units)

[Cd.320] Synchronous encoder axis control start condition (D14822+10n)

When " [Rq.320] Synchronous encoder axis control request (M11601+4n)" is turned ON, if set to other than "101 to 164", the
synchronous encoder axis control starts without any condition.
If set to "101 to 164", the synchronous encoder axis control starts based on the specified high-speed input request signal.

[Cd.321] Synchronous encoder axis control method (D14823+10n)

Set the control method for the synchronous encoder axis.
Setting value Description
0: Current value change The synchronous encoder axis current value and the synchronous encoder axis current value per cycle are changed as follows.
Set the new current value in "[Cd.322] Synchronous encoder axis current value setting address (D14824+10n, D14825+10n)".

Item Change value

[Md.320] Synchronous encoder axis "[Cd.322] Synchronous encoder axis current value setting
current value address (D14824+10n, D14825+10n)"

A value that is converted "[Cd.322] Synchronous encoder axis current

[Md.321] Synchronous encoder axis
value setting address (D14824+10n, D14825+10n)" into the range from
current value per cycle
"0 to ("[Pr.324] Synchronous encoder axis length per cycle"-1)".

1: Counter disable Input from the synchronous encoder is invalid.

Smoothing processing, phase compensation processing and rotation direction restriction processing are continued. While these
processes are valid, the input axis speed may not stop immediately when the counter disable is selected.
2: Counter enable Input from the synchronous encoder is valid.

[Cd.322] Synchronous encoder axis current value setting address (D14824+20n,

D14825+20n)
Set a new current value in synchronous encoder axis position units to apply to the current value change for the synchronous
encoder axis. (Page 51 Synchronous encoder axis position units)

[Cd.325] Input value for synchronous encoder via device (D14826+10n, D14827+10n)
Use this data when "201: Via device" is set in "[Pr.320] Synchronous encoder axis type".
Set a value to be used every time as the input value for the synchronous encoder in encoder pulse units.
If 1 or more is set in "[Pr.329] Resolution of synchronous encoder via device", it is processed as a cycle counter within the
range from 0 to (resolution of synchronous encoder via device - 1).

4 INPUT AXIS MODULE

66 4.3 Synchronous Encoder Axis
Synchronous encoder axis control data (Bit device)
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Rq.323 Synchronous encoder If turns ON for resetting warning and ON: Error reset request Main cycle*1 OFF M11600+4n
axis error reset error for the synchronous encoder axis,
the warning code and error code are
cleared, and the error detection and
warning detection bits status are turned
OFF.
Rq.320 Synchronous encoder If turns ON, the synchronous encoder ON : Control request ON Operation OFF M11601+4n
axis control request axis control is started. OFF: Control request OFF cycle
Rq.324 Connection command • If turns ON, the synchronous encoder ON: Connect synchronous Main cycle*1 OFF M11602+4n
of synchronous
encoder via device/
via device/master CPU is connected.
• If turns OFF, the synchronous encoder
encoder via device/master
CPU
4
master CPU via device/master CPU is OFF: Disconnect synchronous
disconnected. encoder via device/master
CPU

*1 With the exception of positioning control, main cycle processing is executed during the next available time.

[Rq.323] Synchronous encoder axis error reset (M11600+4n)

This command is used to clear the "[Md.327] Synchronous encoder axis warning code (D13250+20n)" and "[Md.326]
Synchronous encoder axis error code (D13251+20n)" of an axis for which the error detection signal has turn on "[St.324]
Synchronous encoder axis error detection flag (M10444+10n)": ON), and reset the "[St.324] Synchronous encoder axis error
detection flag (M10444+10n)".

[Rq.320] Synchronous encoder axis control request (M11601+4n)

• When this signal is ON, if a value other than "101 to 164" is set to "[Cd.320] Synchronous encoder axis control start
condition (D14822+10n)", the synchronous encoder axis control starts without any condition.
[Md.320] Synchronous encoder axis
current value
(D13240+20n, D13241+20n)
100
t
ON
[Rq.320] Synchronous encoder axis
control request (M11601+4n) OFF

[Cd.320] Synchronous encoder axis

0: Start without any condition
control start condition (D14822+10n)
ON
[St.325] Synchronous encoder axis
control complete (M10446+10n) OFF

[Cd.321] Synchronous encoder axis

0: Current value change
control method (D14823+10n)
[Cd.322] Synchronous encoder axis
current value setting address 100
(D14824+10n, D14825+10n)

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 67
 • When this signal is ON, if "101 to 164" is set to "[Cd.320] Synchronous encoder axis control start condition (D14822+10n)",
the synchronous encoder axis control starts based on the corresponding high-speed input request signal.
[Md.320] Synchronous encoder axis
current value
(D13240+20n, D13241+20n)
100
t

High-speed input request signal 3

ON
[Rq.320] Synchronous encoder axis
control request (M11601+4n) OFF

[Cd.320] Synchronous encoder axis

103: High-speed input request signal 3
control start condition (D14822+10n)
ON
[St.325] Synchronous encoder axis
control complete (M10446+10n) OFF

[Cd.321] Synchronous encoder axis

0: Current value change
control method (D14823+10n)
[Cd.322] Synchronous encoder axis
current value setting address 100
(D14824+10n, D14825+10n)
• Set the control method for the synchronous encoder axis in "[Cd.321] Synchronous encoder axis control method
(D14823+10n)". The "[St.325] Synchronous encoder axis control complete flag (M10446+10n)" turns ON at the after
completion of the synchronous encoder axis control. When "[Rq.320] Synchronous encoder axis control request
(M11601+4n)" is turned ON to OFF during waiting for the corresponding high-peed input signal accept, the synchronous
encoder axis control is cancelled.

[Rq.324] Connection command of synchronous encoder via device/master CPU

(M11602+4n)
Use this data when "201: Via device", "301: Master CPU servo input axis", "401: Master CPU command generation axis",
"501: Master CPU synchronous encoder axis" is set in "[Pr.320] Synchronous encoder axis type".

■"201: Via device"

If device turns ON, the synchronous encoder axis is connected. Once connected, the synchronous encoder current value is
restored based on the "[Cd.325] Input value for synchronous encoder via device (D14826+10n, D14827+10n)".
If device turns OFF, the synchronous encoder axis is disconnected.

■"301: Master CPU servo input axis", "401: Master CPU command generation axis", "501:
Master CPU synchronous encoder axis"
If device turns ON, the synchronous encoder axis is connected and is in counter enabling status.
If device turns OFF, the synchronous encoder axis is disconnected.

4 INPUT AXIS MODULE

68 4.3 Synchronous Encoder Axis
Synchronous encoder axis monitor data (Word device)
Symbol Monitor item Storage details Monitor value Refresh Device No.
cycle
Md.320 Synchronous encoder axis The current value for the synchronous -2147483648 to 2147483647 Operation D13240+20n
current value encoder axis is stored. [Synchronous encoder axis position cycle D13241+20n
units]*1
Md.321 Synchronous encoder axis The current value per cycle for a 0 to (Synchronous encoder axis D13242+20n
current value per cycle synchronous encoder axis is stored. length per cycle-1) D13243+20n
[Synchronous encoder axis position
units]*1
Md.322 Synchronous encoder axis The speed for a synchronous encoder axis is -2147483648 to 2147483647 D13244+20n
speed stored. [Synchronous encoder axis speed D13245+20n
units]*2
4
Md.323 Synchronous encoder axis The phase compensation amount is stored. -2147483648 to 2147483647 D13246+20n
phase compensation [Synchronous encoder axis position D13247+20n
amount units]*1
Md.324 Synchronous encoder axis While the rotation direction is restricted, the -2147483648 to 2147483647 D13248+20n
rotation direction accumulation for the input travel value in the [Synchronous encoder axis position D13249+20n
restriction amount opposite direction of the enable direction is units]*1
stored.
Md.327 Synchronous encoder axis The warning code for the synchronous Warning code*3 Immediate D13250+20n
warning code encoder axis is stored.
Md.326 Synchronous encoder axis The error code for the synchronous encoder Error code*3 D13251+20n
error code axis is stored.

*1 Synchronous encoder axis position units (Page 51 Synchronous encoder axis position units)
*2 Synchronous encoder axis speed units (Page 52 Synchronous encoder axis speed units)
*3 Refer to the following for details.
MELSEC iQ-R Motion Controller Programming Manual (Common)

[Md.320] Synchronous encoder axis current value (D13240+20n, D13241+20n)

The current value for the synchronous encoder axis is stored in synchronous encoder axis position units. (Page 51
Synchronous encoder axis position units)
The synchronous encoder position for an incremental synchronous encoder is "0" immediately after the Multiple CPU system
power supply ON.

[Md.321] Synchronous encoder axis current value per cycle (D13242+20n, D13243+20n)
The current value per cycle for a synchronous encoder axis is stored in the range from "0 to ("[Pr.324] Synchronous encoder
axis length per cycle"-1)".
The unit is synchronous encoder axis position units. (Page 51 Synchronous encoder axis position units)

[Md.322] Synchronous encoder axis speed (D13244+20n, D13245+20n)

The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units. (Page 52 Synchronous
encoder axis speed units)
If the speed for a synchronous encoder axis exceeds the monitor range (Refer to Section 4.3.1), warning (error code: 0BD2H)
will occur. In this case, use a smaller number of decimal places for the speed in "[Pr.321] Synchronous encoder axis unit
setting" or set the speed time units to "s".

Even if an unintended input pulse is input from the synchronous encoder, an error does not occur and the
input axis is driven by the input pulse from the synchronous encoder. In this case, check the input pulse from
the synchronous encoder with "[Md.322] Synchronous encoder axis speed (D13244+20n, D13245+20n)".

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 69
 [Md.323] Synchronous encoder axis phase compensation amount (D13246+20n,
D13247+20n)
The phase compensation amount for a synchronous encoder axis is stored in the synchronous encoder axis position units.
(Page 51 Synchronous encoder axis position units)
The phase compensation amount for a synchronous encoder axis is the value after smoothing processing and phase
compensation processing.

[Md.324] Synchronous encoder axis rotation direction restriction amount (D13248+20n,

D13249+20n)
While the rotation direction is restricted for a synchronous encoder axis, the accumulation for input travel in the opposite
direction of the enabled direction is stored in synchronous encoder axis position units as follows. (Page 51 Synchronous
encoder axis position units)
Setting value of "[Pr.328] Synchronous encoder axis rotation Storage details
direction restriction"
1: Enable only for current value increase direction A negative accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.
2: Enable only for current value decrease direction A positive accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.

Rotation direction restriction is processed after phase compensation processing.Therefore, if undershoot occurs from phase
compensation during deceleration stop, the rotation direction restriction amount might remain.

[Md.327] Synchronous encoder axis warning code (D13250+20n)

• This register stores the corresponding warning code at the warning occurrence of synchronous encoder axis. If another
warning occurs after warning code storing, the previous warning code is overwritten by the new warning code.
• Warning codes can be cleared by an "[Rq.323] Synchronous encoder axis error reset (M11600+4n)"

Refer to the following for details of warning codes.

MELSEC iQ-R Motion controller Programming Manual (Common)

[Md.326] Synchronous encoder axis error code (D13251+20n)

• This register stores the corresponding error code at the error occurrence of synchronous encoder axis. If another error
occurs after error code storing, the previous error code is overwritten by the new error code.
• Error codes can be cleared by an "[Rq.323] Synchronous encoder axis error reset (M11600+4n)".

Refer to the following for details of error codes.

MELSEC iQ-R Motion controller Programming Manual (Common)

4 INPUT AXIS MODULE

70 4.3 Synchronous Encoder Axis
Synchronous encoder axis monitor data (Bit device)
Symbol Monitor item Storage details Monitor value Refresh Device No.
cycle
St.320 Synchronous encoder axis This flag turns ON when the setting of the ON: Setting valid At power M10440+10n
setting valid flag synchronous encoder axis is valid. OFF: Setting invalid ON
St.321 Synchronous encoder axis This flag turns ON when the synchronous ON: Connection valid Operation M10441+10n
connecting valid flag encoder axis connection is valid. OFF: Connection invalid cycle
St.322 Synchronous encoder axis This flag turns ON when input from the ON: Counter enable M10442+10n
counter enable flag synchronous encoder is enabled. OFF: Counter disable
St.323 Synchronous encoder axis This flag turns ON when the current value of ON: Current value setting request M10443+10n
current value setting synchronous encoder axis is not set. OFF: Current value setting not
request flag requested
St.324 Synchronous encoder axis This flag turns ON when an error occurs for ON: Error occurred Immediate M10444+10n 4
error detection flag the synchronous encoder axis. OFF: No error
St.325 Synchronous encoder axis This flag turns ON at the completion of ON: Control completed M10446+10n
control complete flag synchronous encoder axis control. OFF: Control not completed

[St.320] Synchronous encoder axis setting valid flag (M10440+10n)

At Multiple CPU system power supply ON, this flag turns ON when the setting of the synchronous encoder axis is valid. It is
turned OFF when the setting is invalid.

[St.321] Synchronous encoder axis connecting valid flag (M10441+10n)

At Multiple CPU system's power supply ON, this flag turns ON when the synchronous encoder connection is valid.
This flag turns OFF when the connection is invalid.
When setting an incremental synchronous encoder, this flag turns ON simultaneously the Multiple CPU system power supply
turns ON regardless of the actual encoder connection.

[St.322] Synchronous encoder axis counter enable flag (M10442+10n)

This flag turns ON when input from the synchronous encoder is enabled.
If the counter disable control is executed, it is turned OFF, and input from the synchronous encoder becomes invalid.If the
counter enable control is executed, it is turned ON, and input from the synchronous encoder becomes valid.Just after the
synchronous encoder is valid to connect, the status is ON (enable).

[St.323] Synchronous encoder axis current value setting request flag (M10443+10n)
This flag turns ON, when a synchronous encoder axis current value change is never executed or when the synchronous
encoder current value is lost by the battery error, etc. in the serial absolute synchronous encoder.
If the current value setting request flag is ON for the synchronous encoder connection, the synchronous encoder axis current
value starts counting with 0.
This flag turns OFF when a synchronous encoder axis current value change is executed.

For a system that needs alignment of synchronous encoder, confirm that "[St.323] Synchronous encoder axis
current value setting request flag (M10443+10n)" is OFF.

4 INPUT AXIS MODULE

4.3 Synchronous Encoder Axis 71
 [St.324] Synchronous encoder axis error detection flag (M10444+10n)
• This signal turns ON with detection of a warning or error of synchronous encoder axis, and can be used to judge whether
there is a warning or error or not. The applicable warning code is stored in the "[Md.327] Synchronous encoder axis
warning code (M13250+20n)" with detection of a warning. The applicable error code is stored in the "[Md.326] Synchronous
encoder axis error code (M13251+20n)" with detection of an error.
• This signal turns off when the "[Rq.323] Synchronous encoder axis error reset (M11600+4n)" turns on.

Refer to the following for the warning codes and error codes with detection of warning and errors.
MELSEC iQ-R Motion controller Programming Manual (Common)

[St.325] Synchronous encoder axis control complete flag (M10446+10n)

This flag turns ON at the completion of synchronous encoder axis control.
This flag turns OFF when "[Rq.320] Synchronous encoder axis control request (M11601+4n)" is turned ON to OFF.

4 INPUT AXIS MODULE

72 4.3 Synchronous Encoder Axis
5 CAM FUNCTION

5.1 Control Details for Cam Function

The output axis for synchronous control is operated with a cam.
The following operations can be performed with cam functions.
• Two-way operation: Reciprocating operation with a constant cam strokes range.
• Feed operation: Cam reference position is updated every cycle.
• Linear operation: Linear operation (cam No.0) in the cycle as the stroke ratio is 100%.
The output axis is controlled by a value (current feed value), which is converted from the input value (cam axis current value
per cycle) by cam data.

Two-way operation
Cam data Cam axis current 5
value per cycle
Cam
conversion t
processing
Current feed value
(User created cam)

Feed operation
Cam data Cam axis current
value per cycle
Cam
conversion t
processing Cam reference
Cam reference position
Current feed value Cam reference position (At 3rd cycle)
(User created cam) position (At 2nd cycle)
(At 1st cycle)

Linear operation
Cam data Cam axis current
value per cycle
Cam
conversion t
processing Cam reference
Cam reference position
Current feed value Cam reference position (At 3rd cycle)
(Linear cam: Cam No.0) position (At 2nd cycle)
(At 1st cycle)

Stroke amount×100%

5 CAM FUNCTION
5.1 Control Details for Cam Function 73
 Type of cam data
The cam data methods used in the cam function are linear cam, stroke ratio data format, coordinate data format, and auto-
generation data format. Cam data is arranged in the "Cam storage area" and "Cam open area".
Refer to memory operation of cam data for details of each area. (Page 79 Memory operation of cam data)
The following describes each type of cam data.

Linear cam control

When "0" is set for "[Pr.440] Cam No. (D15062+150n)", the cam data operates as a straight line with a 100% stroke ratio at
the last point. Linear cam data does not consume the cam open area. Also, linear cam data cannot be read/written as storage
data.
Cam axis current
value per cycle

t
Cam reference
Cam reference position
Current feed value Cam reference position (At 3rd cycle)
position (At 2nd cycle)
(At 1st cycle)

Stroke amount×100%

Stroke ratio data format

The stroke ratio data format is defined in equal divisions for one cam cycle based on the cam resolution, and configured with
stroke ratio data from points within the cam resolution.
Refer to create cam data for setting methods for cam data. (Page 79 Create Cam Data)
Setting item Setting details Setting range Default value
(MT Developer2)
Cam No. Set the cam No. 1 to 1024: User created cam 1
Cam resolution Set the number of divisions for one cam cycle. 256/512/1024/2048/4096/8192/16384/32768 256
Cam data starting point Set the cam data point corresponding to "Cam axis 0 to (Cam resolution - 1) 0
current value per cycle = 0".
Stroke ratio data Set the stroke ratio from the 1st to the last point. -2147483648 to 2147483647 0
(The 0th point setting is not required. It is always 0%.) [10-7 %]*1
(-214.7483648 to 214.7483647%)

*1 For setting the stroke ratio out of range 100% with MT Developer2, check the "Display Advanced Cam Graph Stroke" by selecting the
[Cam Data] on the options screen displayed by the menu bar [Tools]  [Options].

Ex.
Cam resolution: 512
Stroke ratio[%] (Setting range: -214.7483648% to 214.7483647%)
Cam axis length per cycle [Cam axis cycle units]

100.0000000

0
(Cam reference position)

-100.0000000

At the 0th point At the 512th point

(At the last point)

5 CAM FUNCTION
74 5.1 Control Details for Cam Function
Coordinate data format
The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is
represented as input value and output value, with "input value = cam axis current value per cycle", and "output value = stroke
position from cam reference position".
With this format, "[Pr.441] Cam stroke amount (D15064+150n, D15065+150n)" of output axis parameter is ignored and output
value of the coordinate data becomes cam stroke position.
Refer to create cam data for setting methods of cam data. (Page 79 Create Cam Data)
Setting item Setting details Setting range Default value
(MT Developer2)
Cam No. Set the cam No. 1 to 1024: User created cam 1
Coordinate number Set the number of coordinate points in one cam cycle. 2 to 65535 2
The coordinates are included at the 0th point.
Cam data starting Setting is not required with coordinate data format.  
point
Coordinate data Set all coordinate data (input value: Xn, output value: Yn). Input value: 0 to 2147483647 0 5
Required to set the coordinate data (X0, Y0) from the 0th point. [Cam axis cycle units]
The input value should be larger than the previous coordinate data Output value: -2147483648 to 2147483647
(XnXn+1). [Output axis position units]

Output value: Y
[Output axis position unit]

(X3, Y3)
2147483647
(X4, Y4)
(X2, Y2) (X10, Y10)
(X5, Y5)
(X1, Y1) (X9, Y9)

0 Input value: X
(Cam reference position) (X0, Y0)
(X6, Y6) (X8, Y8)
(X7, Y7)
-2147483648
Cam axis length per cycle [Cam axis cycle unit]
When the coordinate data corresponding to an input value that is 0 or when the cam axis length per cycle setting does not
exist, the coordinate is calculated from the line segment between the nearest two coordinates.
Output value: Y
[Output axis position unit]
Generated line segment from (Generated line segment from
(X0, Y0) and (X1, Y1) (X9, Y9) and (X10, Y10)
(X3, Y3)
2147483647
(X4, Y4)
(X10, Y10)
(X2, Y2)
(X1, Y1) (X5, Y5)
(X9, Y9)
(X0, Y0)
0 Input value: X
(Cam reference position)
(X6, Y6) (X8, Y8)
(X7, Y7)
-2147483648
Cam axis length per cycle [Cam axis cycle unit]

5 CAM FUNCTION
5.1 Control Details for Cam Function 75
 Auto-generation data format
A cam pattern is created using the CAMMK instruction of Motion SFC program based on the specified parameter (data for
auto-generation). Control cam data is created in the stroke ratio data format in the cam open area. Therefore, the operation
during the control conforms to the cam operation in the stroke ratio data format.
The types of cam patterns for auto-generation data format are as follows.
Auto-generation type Details
Cam for rotary cutter Set the auto-generation data, including the sheet length and the synchronization width of the cam data for rotary cutter.
Easy stroke ratio cam Without using the MT Developer2 cam data, automatically generate cam data by setting the sections and the stroke amounts.
Setting of the detailed coefficients of the cam curve is omitted. A cam pattern is created using a limited number of curves and
sections.
Advanced stroke ratio cam Without using the MT Developer2 cam data, automatically generate cam data by setting the sections and the stroke amounts.
Create a detailed cam pattern by setting applicable range for curves, and compensation for the acceleration/deceleration
range.

CAUTION
• If the cam data is set incorrectly, such as simply setting a target value and command speed similar to positioning control, the position and speed command to
the servo amplifier increases, and may cause machine interface and servo errors (AL.31, AL.35). When creating and changing cam data, execute a trial
operation and provide the appropriate adjustments. Refer to "Safety precautions" for precautions on trial operations and adjustments. (2 SAFETY
PRECAUTIONS)

5 CAM FUNCTION
76 5.1 Control Details for Cam Function
Overview of cam operation

Current feed value of cam axis

The current feed value is calculated as shown below.

■Stroke ratio data format

Current feed value=Cam reference position + (Cam stroke amount  Stroke ratio corresponding to cam axis current value per
cycle)

■Coordinate data format

Current feed value = Cam reference position + Output value corresponding to cam axis current value per cycle

When the cam axis current value per cycle is in the middle of the defined cam data (Stroke ratio data/Coordinate data), the
middle value is calculated from the nearest cam data.

5
Cam axis current Calculate the middle value
value per cycle from the nearest cam data.

Cam data

1 resolution or between
2 coordinates

Cam reference position

The cam reference position is calculated as shown below.

■Stroke ratio data format

Cam reference position = The preceding cam reference position + (Cam stroke amount  Stroke ratio at the last point)

■Coordinate data format

Cam reference position= The preceding cam reference position + Output value corresponding to "Input value = Cam axis
length per cycle" - Output value corresponding to "Input value = 0"
Cam axis current
value per cycle

t
Cam reference
Cam reference position
Cam reference position (At 3rd cycle)
Current feed value position (At 2nd cycle)
(At 1st cycle)

Stroke ratio data format:

Cam stroke amount Stroke ratio at last point
Coordinate data format:
(The output value corresponding to "Input value = Cam axis length per cycle")
- (The output value corresponding to "Input value = 0")

5 CAM FUNCTION
5.1 Control Details for Cam Function 77
 Create cam data for two-way cam operation as shown below.

■Stroke ratio data format

Create cam data so that the stroke ratio is 0% at the last point.

■Coordinate data format

Create cam data with the same output value for the point where the input value is 0 and the input value is equal to the cam
axis length per cycle.
Cam axis current
value per cycle

Current feed value

Cam reference position

(Does not change because of the
stroke ratio 0% and output value = 0.)

Cam data starting point

This setting is only valid for cam data using the stroke ratio data format.
The cam data point corresponding to "Cam axis current value per cycle = 0" can be set as the cam data starting point.
The default value of the cam data starting point is 0. (The cam axis is controlled with cam data starting from the 0th point
(stroke ratio 0%).)
When a value other than 0 is set for the cam data starting point, cam control is started from the point where the stroke ratio is
not 0%.
The cam data starting point is set for each cam data. The setting range is from 0 to (cam resolution-1).
Cam axis current
value per cycle

t
Cam reference Cam reference
position position
(At 2nd cycle) (At 3rd cycle)
Current feed value

Cam reference
position
(At 1st cycle) t

Cam data
starting point
At 0th point At last point

Timing of applying cam control data

■Stroke ratio data format
If any one of "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)", "[Pr.440] Cam No. (D15062+150n)", or
"[Pr.441] Cam stroke amount (D15064+150n, D15065+150n)" is changed during synchronous control, the new value is
accepted and applied when the cam axis current value per cycle passes through the 0th point of cam data, or is on the 0th
point.
The cam reference position is updated when the cam axis current value per cycle passes through the 0th point of cam data.

■Coordinate data format

If "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)" or "[Pr.440] Cam No. (D15062+150n)" is changed
during synchronous control, the new value is accepted and applied when the cam axis current value per cycle passes through
0, or is on 0.
The cam reference position is updated when the cam axis current value per cycle passes through 0.

5 CAM FUNCTION
78 5.1 Control Details for Cam Function
5.2 Create Cam Data
Memory operation of cam data
Cam data is arranged in the following 2 areas.
Area Storage item Details Remark
Cam storage area Cam storage data Data is written by the following operations. Data is preserved even when turning the Multiple
(Standard ROM/ (Cam file) • Write with MT Developer2 CPU system power supply OFF.
SD memory card) • When specifying a cam file for writing data and executing
the CAMWR/CAMMK instruction of Motion SFC program.
Cam open area Cam open data • Cam data is transmitted from the cam file, when turning the • Data is lost when turning OFF or resetting the
Multiple CPU system power supply ON. Multiple CPU system power supply.
• Writing to the cam open area is also possible using the • The cam data that is used in cam control is
CAMWR/CAMMK instruction or "File transmission request stored.
(SD820)".

5
Previously written cam data can be used after turning the Multiple CPU system power supply OFF by writing data in the cam
file. Cam data should be written in the cam file for normal use.
It is possible to write the cam data to the cam open area via the device specified by Motion SFC program when fine adjusting
cam data during cam control etc.
The cam file must also be updated as appropriate because the contents of the cam file are transmitted to the cam open area
when turning the Multiple CPU system power supply ON again.
When the cam file is updated, the contents of the cam open area can be updated using "File transmission request (SD820)".

(2) Operation with Motion SFC program

Read
(CAMRD
Optional device instruction)

Read Write (CAMWR instruction) Write(CAMWR instruction)

(CAMRD /Cam auto-generation /Cam auto-generation
(1) Operation with MT Developer2 instruction) (CAMMK instruction) (CAMMK instruction)
Cam storage area

Write Standard ROM

*1
MT Developer2 Cam file(CSV) Cam open area
Read (Cam No.1 to 1024) (16M bytes)

SD memory card
Cam file(CSV)
(Cam No.1 to 1024)

Cam control

*1: Cam data is writen to the cam open area at multiple CPU system power supply ON,
or by "File transmission request(SD820)".

5 CAM FUNCTION
5.2 Create Cam Data 79
 Cam data operation with MT Developer2
Cam data can be modified while viewing the waveform with MT Developer2.
The cam data is written/read to the cam file with MT Developer2, however it cannot be executed to the cam open area.
The waveform generated by the cam auto-generation function can be confirmed on the "Cam graph" of the "Cam data
window" through reading with MT Developer2.

Cam data operation with Motion SFC program

Cam data read/write operation, cam auto-generation and cam position calculation can be executed with the Motion SFC
program. (Page 81 Cam data operation by Motion SFC program)

Cam data capacity

The size of the created cam data is shown below for the cam open area.
Operation method Data method/Auto-generation type Cam open area (16M bytes)
Create with MT Developer2 Stroke ratio data format Cam resolution  4 bytes
Coordinate data format Coordinate number  8 bytes
Create with Motion SFC program Stroke ratio data format Cam resolution  4 bytes
(CAMWR instruction)
Coordinate data format Coordinate number  8 bytes
Create with cam auto-generation in Motion SFC program For a rotary cutter Cam resolution  4 bytes
(CAMMK instruction)
Easy stroke ratio cam
Advanced stroke ratio CAM

Delete method of cam data

Delete the cam file with MT Developer2 to delete only cam data.

Password protection for cam file

The cam file can be protected as shown below by file password setting. Depending on the registration condition that has been
set, the cam file is protected as follows.
Registration condition Cam data operation with MT Developer2 Cam data operation with Motion SFC program
Write protection Cam data cannot be written without unlocking the Cam file with a password can be created by writing cam data and
password. cam data auto-generation.
Read protection Cam data cannot be read/written without unlocking the A cam data read with the cam file as target cannot be executed.
password.

Refer to the following for details of the file password protection.

MELSEC iQ-R Motion controller Programming Manual (Common)

5 CAM FUNCTION
80 5.2 Create Cam Data
Cam data operation by Motion SFC program
Cam data read/write operation and cam auto-generation can be executed with the synchronous control dedicated function of
Motion SFC program.
Refer to the following for details.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
Classification Symbol Instruction Description
Synchronous CAMRD Cam data read This is used to read cam data.
control dedicated Cam data can be read from a cam file by setting the destination reading.The upper amount of
function data for each operation is 32768 points (2 words are used per point) with the stroke ratio data
format, and 16384 points (4 words are used per point) with the coordinate data format.
If the read is not completed in one time, the operation should be separated in multiple times.
CAMWR Cam data write This is used to write cam data to the CAM open area.
Cam data can be saved in a cam file by setting the destination for writing.
The upper amount of data for each operation is 32768 points (2 words are used per point) with
the stroke ratio data format, and 16384 points (4 words are used per point) with the coordinate
data format.
If the write is not completed in one time, the operation should be separated in multiple times.
5
CAMMK Cam auto-generation This function is used to automatically generate cam data for specific purposes by setting data for
function auto-generation.
Auto-generation cam data is generated in the stroke ratio format in the cam open area, and the
data for auto-generation can be saved in a cam file by setting the destination for writing.
It is possible to generate up to 16Mbytes including the regular cam data.
(Example) 1024 cam data (with the stroke ratio format, resolution is 4096) can be automatically
generated.

Cam data operation by file transmission function

Cam data can be written from a cam file to the cam open area by specifying cam data using "File transmission request
(SD820)".
Refer to the following for details of the file transmission function.
 MELSEC iQ-R Motion controller Programming Manual (Common)

5 CAM FUNCTION
5.2 Create Cam Data 81
 6 SYNCHRONOUS CONTROL

6.1 Main Shaft Module

Overview of main shaft module
For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input
axis) through the composite main shaft gear. The composite input value can be converted by the main shaft gear that provides
the deceleration ratio and the rotation direction for the machine system, etc.
Refer to the following for details on setting for the main shaft module.
• Main shaft parameters (Page 83 Main shaft parameters)
• Main shaft clutch parameters (Page 85 Main shaft clutch parameters)

[Pr.403] Main shaft gear: Numerator

[Pr.400] Main input axis No. [Pr.402] Composite main shaft gear (D15004+150n, D15005+150n)
(D15000+150n) (D15002+150n) [Pr.404] Main shaft gear: Denominator
(D15006+150n, D15007+150n)
Main shaft Composite Main shaft
main input axis main shaft gear gear

[Md.400] Current value after

composite main shaft gear [Md.401] Current value per cycle
(D13600+30n, D13601+30n) after main shaft gear
(D13602+30n, D13603+30n)
Main shaft Main shaft
sub input axis clutch*1
[Pr.401] Sub input axis No.
(D15001+150n)

Speed change gear/

Composite auxiliary shaft gear
*1 Clutch (Page 99 Clutch)

6 SYNCHRONOUS CONTROL
82 6.1 Main Shaft Module
Main shaft parameters
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.400 Main input axis No. Set the input axis No. on the 0: Invalid At start of 0 D15000+150n
main input side for the main 1 to 32: Servo input axis*1 synchronous
shaft. 201 to 232: Command generation axis*2 control
801 to 812: Synchronous encoder axis
Pr.401 Sub input axis No. Set the input axis No. on the sub 0: Invalid 0 D15001+150n
input side for the main shaft. 1 to 32: Servo input axis*1
201 to 232: Command generation axis*2
801 to 812: Synchronous encoder axis
Pr.402 Composite main shaft Select the composite method for • Set in hexadecimal. Operation 0001h D15002+150n
gear input values from the main input cycle
H
axis and sub input axis.
Main input method
0: No input
1: Input +
2: Input -
Sub input method
0: No input
1: Input +

Pr.403 Main shaft gear: Set the numerator for the main
2: Input -
-2147483648 to 2147483647 At start of 1 D15004+150n
6
Numerator shaft gear. synchronous D15005+150n
control
Pr.404 Main shaft gear: Set the denominator for the 1 to 2147483647 1 D15006+150n
Denominator main shaft gear. D15007+150n

*1 The range from 1 to 16 is valid in the R16MTCPU.

*2 The range from 201 to 216 is valid in the R16MTCPU.

[Pr.400] Main input axis No. (D15000+150n), [Pr.401] Sub input axis No. (D15001+150n)
Set the main input axis No. and the sub input axis No. for the main shaft.
Setting value Description
0: Invalid The input value is always 0.
1 to 32: Servo input axis*1 Set the servo input axis (axis 1 to 32).
When the servo input axis is not set in the servo network setting, the input value is always 0.
If the number is set to the same value as the output axis, the minor error (error code: 1BE0H, 1BE1H) occurs and
synchronous control cannot be started.
201 to 232: Command generation axis*2 Set the command generation axis (axis 1 to 32).
When the command generation axis is invalid in the command generation axis parameter setting, the input value
is always 0.
As the command generation axis is used only for command generation, it is possible to set the same number as
the output axis.
801 to 812: Synchronous encoder axis Set the synchronous encoder axis (axis 1 to 12).
When synchronous encoder axis is invalid, the input value is always 0.

*1 The range from 1 to 16 is valid in the R16MTCPU.

*2 The range from 201 to 216 is valid in the R16MTCPU.

[Pr.402] Composite main shaft gear (D15002+150n)

Set the composite method for input values from the main and sub input axes.
The setting values for each axis are shown as follows.
Setting value Description
0: No input The input value from the input axis is calculated as 0.
1: Input+ The input value from the input axis is calculated as it is.
2: Input- The input value from the input axis is calculated with its opposite sign.

Operation assumes "0: No input" if the value is set out of the range from 0 to 2.

The composite method for the composite main shaft gear can be changed during synchronous control. It is
used as a clutch to switch input values between the main and the sub input axes.

6 SYNCHRONOUS CONTROL
6.1 Main Shaft Module 83
 [Pr.403] Main shaft gear: Numerator (D15004+150n, D15005+150n)
Set the numerator for the main shaft gear to convert the input value.
The input value is converted as follows.

Main shaft gear: Numerator

Input value after conversion = Input value before conversion ×
Main shaft gear: Denominator
The input value direction can be reversed by setting a negative value in the numerator of the main shaft gear.
Set the denominator of the main shaft gear to a value within the range from 1 to 2147483647.

Ex.
Convert the cam axis per cycle to be controlled in intervals of 0.1[mm] (0.00394[inch]). The cam axis synchronizes with a
conveyer that moves 100[mm] (3.937[inch]) for every (360.00000[degree]) of the main shaft.
Main shaft gear: Numerator: 1000[0.1mm]
Main shaft gear: Denominator: 36000000[10-5degree]

[Pr.404] Main shaft gear: Denominator (D15006+150n, D15007+150n)

Set the denominator for the main shaft gear to convert the input value.
Set together with the main shaft gear numerator. (Page 84 [Pr.403] Main shaft gear: Numerator (D15004+150n,
D15005+150n))

6 SYNCHRONOUS CONTROL
84 6.1 Main Shaft Module
Main shaft clutch parameters
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.405 Main shaft clutch Set the control method for the • Set in hexadecimal. Operation 0000h D15008+150n
control setting clutch. cycle
H
ON control mode
0: No clutch
1: Clutch command
ON/OFF
2: Clutch command
leading edge
3: Clutch command
trailing edge
4: Address mode
5: High speed input
request
OFF control mode
0: OFF control invalid
1: One-shot OFF
2: Clutch command
leading edge
3: Clutch command
trailing edge 6
4: Address mode
5: High speed input
request
High speed input
request signal
00 to 3F: High speed
input request
signal from
signal 1 to 64
Pr.406 Main shaft clutch Set the reference address for 0: Current value after composite main At start of 0 D15009+150n
reference address the clutch. shaft gear synchronous
setting 1: Current value per cycle after main control
shaft gear
Pr.407 Main shaft clutch ON • Set the clutch ON address for -2147483648 to 2147483647 Operation 0 D15010+150n
address address mode. (This setting is [Main input axis position units*1, or cam cycle D15011+150n
invalid except during address axis cycle units*2]
mode.)
• If the address is out of the
range from 0 to (Cam axis
length per cycle-1), the
address is converted to a
value within range.
Pr.408 Travel value before • Set the travel value for the -2147483648 to 2147483647 At 0 D15012+150n
main shaft clutch ON distance between the clutch [Main input axis position units*1, or cam completing D15013+150n
ON condition completing and axis cycle units*2] clutch ON
the clutch closing. condition
• Set a positive value when the
reference address is
increasing, and a negative
value when it is decreasing.
Pr.409 Main shaft clutch OFF • Set the clutch OFF address -2147483648 to 2147483647 Operation 0 D15014+150n
address for the address mode. (This [Main input axis position units*1, or cam cycle D15015+150n
setting is invalid except during axis cycle units*2]
address mode.)
• If the address is out of the
range from 0 to (Cam axis
length per cycle - 1), the
setting address is converted
to a value within range.

6 SYNCHRONOUS CONTROL
6.1 Main Shaft Module 85
 Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.410 Travel value before • Set the travel value for the -2147483648 to 2147483647 At 0 D15016+150n
main shaft clutch OFF distance between the clutch [Main input axis position units*1, or cam completing D15017+150n
OFF condition completing axis cycle units*2] clutch OFF
and the clutch opening. condition
• Set a positive value when the
reference address is
increasing, and a negative
value when it is decreasing.
Pr.411 Main shaft clutch Set the clutch smoothing 0: Direct At start of 0 D15018+150n
smoothing method method. 1: Time constant method (Exponent) synchronous
2: Time constant method (Linear) control
3: Slippage method (Exponent)
4: Slippage method (Linear)
5: Slippage method (Linear: Input value
follow up)
Pr.412 Main shaft clutch For smoothing with a time 0 to 5000[ms] 0[ms] D15019+150n
smoothing time constant method, set the
constant smoothing time constant.
Pr.413 Slippage amount at For smoothing with a slippage 0 to 2147483647 At turning 0 D15020+150n
main shaft clutch ON method, set the slippage [Main input axis position units*1, or cam clutch ON D15021+150n
amount at clutch ON. axis cycle units*2]
Pr.414 Slippage amount at For smoothing with a slippage 0 to 2147483647 At turning 0 D15022+150n
main shaft clutch OFF method, set the slippage [Main input axis position units*1, or cam clutch OFF D15023+150n
amount at clutch OFF. axis cycle units*2]

*1 Main input axis position units (Page 30 Servo input axis position units, Page 37 Command generation axis position units,
Page 51 Synchronous encoder axis position units)
*2 Cam axis cycle units (Page 114 Cam axis cycle units)

[Pr.405] Main shaft clutch control setting (D15008+150n)

Set the ON and OFF control methods separately for the main shaft clutch.
The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled
operation) cannot be selected during synchronous control after already selecting another setting.
Refer to control method for clutch for details on the clutch control. (Page 99 Control method for clutch)

■ON control mode

Setting value Description
0: No clutch (Direct coupled operation)) Execute direct coupled operation without clutch control.
1: Clutch command ON/OFF The clutch is turned ON/OFF by the operation of "[Rq.400] Main shaft clutch command (M11680+10n)" ON/OFF.
(Setting in the OFF control mode are not applicable in the clutch command ON/OFF mode.)
2: Clutch command leading edge The clutch is turned ON when "[Rq.400] Main shaft clutch command (M11680+10n)" passes the leading edge
(from OFF to ON).
3: Clutch command trailing edge The clutch is turned ON when "[Rq.400] Main shaft clutch command (M11680+10n)" passes the trailing edge
(from ON to OFF).
4: Address mode The clutch is turned ON when the reference address (the current value after composite main shaft gear or the
current value per cycle after main shaft gear) reaches "[Pr.407] Main shaft clutch ON address (D15010+150n,
D15011+150n)".
The travel value after passing through the ON address is calculated as the output travel value of the clutch based
on the reference address passing through, thereby controlling the clutch with an accurate travel value.
5: High speed input request The clutch is turned ON when the high speed input request signal turns ON.

Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "[Rq.402]
Main shaft clutch forced OFF command (M11682+10n)" and the change of the clutch control setting are
ignored during direct coupled operation.

6 SYNCHRONOUS CONTROL
86 6.1 Main Shaft Module
■OFF control mode
Setting value Description
0: OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control.
1: One-shot OFF The clutch is turned OFF after moving the distance "[Pr.410] Travel value before main shaft clutch OFF
(D15016+150n, D15107+150n)" (One-shot operation) after the clutch command turns ON.
If "[Pr.410] Travel value before main shaft clutch OFF(D15016+150n, D15107+150n)" is 0, "[St.420] Main shaft
clutch ON/OFF status (M10560+10n)" does not turn ON in order to turn back OFF immediately.
2: Clutch command leading edge The clutch is turned OFF when "[Rq.400] Main shaft clutch command (M11680+10n)" passes the leading edge
(from OFF to ON).
3: Clutch command trailing edge The clutch is turned OFF when "[Rq.400] Main shaft clutch command (M11680+10n)" passes the trailing edge
(from ON to OFF).
4: Address mode The clutch is turned OFF when the reference address (the current value after composite main shaft gear or the
current value per cycle after main shaft gear) reaches "[Pr.409] Main shaft clutch OFF address (D15014+150n,
D15015+150n)".
The travel value before passing through the OFF address is calculated as the output travel value of the clutch
based on the reference address passing through, thereby controlling the clutch with an accurate travel value.
5: High speed input request The clutch is turned OFF when the high speed input request signal turns ON.

■High speed input request signal

Set the high speed input request signal No. for the "(a) ON control mode" and the "(b) OFF control mode" when using the
setting "5: High speed input request". 6
Signal No. Setting value Signal No. Setting value Signal No. Setting value Signal No. Setting value
(Hexadecimal) (Hexadecimal) (Hexadecimal) (Hexadecimal)
1 00 17 10 33 20 49 30
2 01 18 11 34 21 50 31
3 02 19 12 35 22 51 32
4 03 20 13 36 23 52 33
5 04 21 14 37 24 53 34
6 05 22 15 38 25 54 35
7 06 23 16 39 26 55 36
8 07 24 17 40 27 56 37
9 08 25 18 41 28 57 38
10 09 26 19 42 29 58 39
11 0A 27 1A 43 2A 59 3A
12 0B 28 1B 44 2B 60 3B
13 0C 29 1C 45 2C 61 3C
14 0D 30 1D 46 2D 62 3D
15 0E 31 1E 47 2E 63 3E
16 0F 32 1F 48 2F 64 3F

[Pr.406] Main shaft clutch reference address setting (D15009+150n)

Select the address type to be used as the reference address for clutch control.
Setting value Description
0: Current value after composite main shaft gear The clutch is controlled by using the current value after composite main shaft gear.
Output after the clutch control is a converted travel value through the main shaft gear.
1: Current value per cycle after main shaft gear The clutch is controlled by using the current value per cycle after main shaft gear.
Output after the clutch control is a travel value without conversion.

The setting units for the following parameters are in units based on the reference address setting.
• [Pr.407] Main shaft clutch ON address (D15010+150n, D15011+150n)
• [Pr.409] Main shaft clutch OFF address (D15014+150n, D15015+150n)
• [Pr.408] Travel value before main shaft clutch ON (D15012+150n, D15013+150n), [Pr.410] Travel value before main shaft
clutch OFF (D15016+150n, D15017+150n)
• [Pr.413] Slippage amount at main shaft clutch ON (D15020+150n, D15021+150n), [Pr.414] Slippage amount at main shaft
clutch OFF (D15022+150n, D15023+150n)

6 SYNCHRONOUS CONTROL
6.1 Main Shaft Module 87
 [Pr.407] Main shaft clutch ON address (D15010+150n, D15011+150n)
Set the clutch ON address when address mode is configured for the ON control mode of the main shaft clutch.
When the reference address is the current value per cycle after main shaft gear, the setting address is converted for control
within the range from 0 to (Cam axis length per cycle-1).

Ex.
Cam axis length per cycle: 20000[pulse]
The ON address is controlled as 19000[pulse] when the setting value is -1000.

[Pr.408] Travel value before main shaft clutch ON (D15012+150n, D15013+150n)

Set the travel value for the reference address with a signed number for the distance between the clutch ON condition
completing and the clutch closing.
Setting value Description
1 to 2147483647(Positive value) Used when the reference address is increasing in direction.
0 No movement (The clutch is immediately turned ON with the clutch ON condition completing.)
-2147483648 to -1(Negative value) Used when the reference address is decreasing in direction.

Clutch ON condition is completed ON

(Example: [Rq.400] Main shaft clutch OFF
command (M11680+10n) ON)
ON
[St.420] Main shaft clutch ON/OFF status
(M10560+10n) OFF

[Md.400] Current value after composite

main shaft gear (D13600+30n, D13601+30n)
or
[Md.401] Current value per cycle after t
main shaft gear (D13602+30n, D13603+30n) [Pr.408] Travel value before main shaft
clutch ON (D15012+150n, D15013+150n)
(Positive value)
Travel value after clutch
t

[Pr.409] Main shaft clutch OFF address (D15014+150n, D15015+150n)

Set the clutch OFF address when address mode is configured for the OFF control mode of the main shaft clutch.
When the reference address is the current value per cycle after main shaft gear, the setting address is converted for control
within the range from 0 to (Cam axis length per cycle-1).

Ex.
Cam axis length per cycle: 20000[pulse]
The OFF address is controlled as 60[pulse] when the setting value is 40060.

6 SYNCHRONOUS CONTROL
88 6.1 Main Shaft Module
[Pr.410] Travel value before main shaft clutch OFF (D15016+150n, D15017+150n)
Set the travel value for the reference address with a signed number for the distance between the clutch OFF condition
completing and the clutch opening.
Setting value Description
1 to 2147483647(Positive value) Used when the reference address is increasing in direction.
0 No movement. (The clutch is immediately turned OFF with the clutch OFF condition completing.)
-2147483648 to -1(Negative value) Used when the reference address is decreasing in direction.

Clutch OFF condition is completed ON

(Example: [Rq.400] Main shaft clutch OFF
command (M11680+10n) OFF)
ON
[St.420] Main shaft clutch ON/OFF status
(M10560+10n) OFF

[Md.400] Current value after composite

main shaft gear (D13600+30n, D13601+30n)
or
[Md.401] Current value per cycle after t
main shaft gear (D13602+30n, D13603+30n) [Pr.410] Travel value before main shaft
clutch OFF (D15016+150n, D15017+150n)
(Positive value)
Travel value after clutch
t
6
[Pr.411] Main shaft clutch smoothing method (D15018+150n)
Set the smoothing method for clutch ON/OFF. (Page 104 Smoothing method for clutch)
Setting value Description
0: Direct No smoothing.
1: Time constant method (Exponent) Smoothing with an exponential curve based on the time constant setting.
2: Time constant method (Linear) Smoothing with linear acceleration/deceleration based on the time constant setting.
3: Slippage method (Exponent) Smoothing with an exponential curve based on the slippage amount setting.
4: Slippage method (Linear) Smoothing with linear acceleration/deceleration based on the slippage amount setting.
5: Slippage method (Linear: Input value follow up) Smoothing with linear acceleration/deceleration based on the slippage amount setting.

[Pr.412] Main shaft clutch smoothing time constant (D15019+150n)

Set a time constant when the time constant method is set in "[Pr.411] Main shaft clutch smoothing method (D15018+150n)".
The time constant setting applies for both clutch ON/OFF.

[Pr.413] Slippage amount at main shaft clutch ON (D15020+150n,D15021+150n)

Set the slippage amount at clutch ON when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method
(D15018+150n)".
The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address
setting (D15009+150n)".
If the set amount is negative, slippage amount at clutch ON is controlled as 0 (direct).

[Pr.414] Slippage amount at main shaft clutch OFF (D15022+150n,D15023+150n)

Set the slippage amount at clutch OFF when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method
(D15018+150n)".
The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address
setting (D15009+150n)".
If the set amount is negative, slippage amount at clutch OFF is controlled as 0 (direct).

6 SYNCHRONOUS CONTROL
6.1 Main Shaft Module 89
 Main shaft clutch control data
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Rq.400 Main shaft clutch Set the clutch command ON/OFF. OFF: Main shaft clutch command Operation OFF M11680+10n
command OFF cycle
ON: Main shaft clutch command
ON
Rq.401 Main shaft clutch Set the command disable the clutch OFF: Main shaft clutch control OFF M11681+10n
control invalid control temporarily. valid
command ON: Main shaft clutch control
invalid
Rq.402 Main shaft clutch Set the command to force the clutch OFF: Main shaft clutch normal OFF M11682+10n
forced OFF command OFF. control
ON: Main shaft clutch forced
OFF

[Rq.400] Main shaft clutch command (M11680+10n)

Use ON/OFF for the main shaft clutch command. This command is used when the clutch ON control mode is "1: Clutch
command ON/OFF", "2: Clutch command leading edge" or "3: Clutch command trailing edge", and the clutch OFF control
mode is either "2: Clutch command leading edge" or "3: Clutch command trailing edge".
Status is considered as clutch command OFF just before starting synchronous control. If synchronous control is started while
the clutch command is ON, the condition is established just after starting synchronous control, by setting "2: Clutch command
leading edge". The condition is not established just after starting, by setting "3: Clutch command trailing edge".

[Rq.401] Main shaft clutch control invalid command (M11681+10n)

The main shaft clutch control is invalid if ON is set. The previous clutch ON/OFF status remains before clutch control becomes
invalid.
Clutch control will not become invalid during movement before clutch ON and during movement before clutch OFF. Instead,
clutch control will become invalid after movement is completed.

[Rq.402] Main shaft clutch forced OFF command (M11682+10n)

Set ON to force the clutch OFF. The output value from the clutch becomes 0 immediately, even during clutch smoothing. The
slippage (accumulative) amount is set to 0 if smoothing with a slippage method.
Reset to OFF to restart the clutch control from the clutch OFF status after using the clutch forced OFF command.

6 SYNCHRONOUS CONTROL
90 6.1 Main Shaft Module
6.2 Auxiliary Shaft Module
Overview of auxiliary shaft module
For the auxiliary shaft module, the input value is generated from the auxiliary shaft.The input value can be converted by the
auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system etc.
Refer to the following for details on setting for the auxiliary shaft module.
• Auxiliary shaft parameters (Page 91 Auxiliary shaft parameters)
• Auxiliary shaft clutch parameters (Page 93 Auxiliary shaft clutch parameters)
Main shaft input/
Speed change gear

[Pr.420] Auxiliary shaft gear:

Auxiliary shaft Auxiliary shaft Composite
Numerator
gear clutch *1 auxiliary shaft
(D15026+150n, D15027+150n)
[Pr.419] Composite
[Pr.421] Auxiliary shaft gear:
auxiliary shaft gear
Denominator
(D15025+150n)
(D15028+150n, D15029+150n)

[Md.402] Current value per cycle after 6

auxiliary shaft gear
(D13604+30n, D13605+30n)
Auxiliary shaft Speed change gear/
axis Output axis
[Pr.418] Auxiliary shaft axis No.
(D15024+150n)

*1 Clutch (Page 99 Clutch)

Auxiliary shaft parameters

Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.418 Auxiliary shaft axis Set the input axis No. for the 0: Invalid At start of 0 D15024+150n
No. auxiliary shaft. 1 to 32: Servo input axis*1 synchronous
201 to 232: Command generation axis*2 control
801 to 812: Synchronous encoder axis
Pr.419 Composite auxiliary Select the composite method for • Set in hexadecimal. Operation 0001h D15025+150n
shaft gear input values from the main shaft cycle
and the auxiliary shaft. H
Main shaft input
method
0: No input
1: Input +
2: Input -
Auxiliary shaft
input method
0: No input
1: Input +
2: Input -
Pr.420 Auxiliary shaft gear: Set the numerator for the -2147483648 to 2147483647 At start of 1 D15026+150n
Numerator auxiliary shaft gear. synchronous D15027+150n
control
Pr.421 Auxiliary shaft gear: Set the denominator for the 1 to 2147483647 1 D15028+150n
Denominator auxiliary shaft gear. D15029+150n

*1 The range from 1 to 16 is valid in the R16MTCPU.

*2 The range from 201 to 216 is valid in the R16MTCPU.

6 SYNCHRONOUS CONTROL
6.2 Auxiliary Shaft Module 91
 [Pr.418] Auxiliary shaft axis No. (D15024+150n)
Set the input axis No. for the auxiliary shaft.
Setting value Description
0: Invalid The input value is always 0.
1 to 32: Servo input axis*1 Set the servo input axis (axis 1 to 32).
When the servo input axis is not set in the servo network setting, the input value is always 0.
If the number is set to the same value as the output axis, minor error (error code: 1BF0H) occurs and
synchronous control cannot be started.
201 to 232: Command generation axis*2 Set the command generation axis (axis 1 to 32).
When the command generation axis is invalid in the command generation axis parameter setting, the input value
is always 0.
As the command generation axis is used only for command generation, it is possible to set the same number as
the output axis.
801 to 812: Synchronous encoder axis Set the synchronous encoder axis (axis 1 to 12).
When synchronous encoder axis is invalid, the input value is always 0.

*1 The range from 1 to 16 is valid in the R16MTCPU.

*2 The range from 201 to 216 is valid in the R16MTCPU.

[Pr.419] Composite auxiliary shaft gear (D15025+150n)

Set the composite method for input values from the main and auxiliary shafts. The setting values for each axis are shown as
follows.
Setting value Description
0: No input The input value from the input axis is calculated as 0.
1: Input+ The input value from the input axis is calculated as it is.
2: Input- The input value from the input axis is calculated with its opposite sign.

Operation assumes "0: No input" if the value is set out of the range from 0 to 2.

The composite method for the composite auxiliary shaft gear can be changed during synchronous control. It is
used as a clutch to switch input values between the main and the auxiliary shafts.

[Pr.420] Auxiliary shaft gear: Numerator (D15026+150n, D15027+150n),

Set the numerator for auxiliary shaft gear to convert the input value. The input value is converted as follows.

Auxiliary shaft gear: Numerator

Input value after conversion = Input value before conversion ×
Auxiliary shaft gear: Denominator
The input value direction can be reversed by setting a negative value in the numerator of the auxiliary shaft gear.
Set the denominator of the auxiliary shaft gear to a value within the range from 1 to 2147483647.

[Pr.421] Auxiliary shaft gear: Denominator (D15028+150n, D15029+150n)

Set the denominator for auxiliary shaft gear to convert the input value.
Set together with the main shaft gear numerator. (Page 92 [Pr.420] Auxiliary shaft gear: Numerator (D15026+150n,
D15027+150n),)

6 SYNCHRONOUS CONTROL
92 6.2 Auxiliary Shaft Module
Auxiliary shaft clutch parameters
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.422 Auxiliary shaft clutch Set the control method for the • Set in hexadecimal. Operation 0000h D15030+150n
control setting clutch. cycle
H
ON control mode
0: No clutch
1: Clutch command
ON/OFF
2: Clutch command
leading edge
3: Clutch command
trailing edge
4: Address mode
5: High speed input
request
OFF control mode
0: OFF control invalid
1: One-shot OFF
2: Clutch command
leading edge
3: Clutch command
trailing edge 6
4: Address mode
5: High speed input
request
High speed input
request signal
00 to 3F: High speed
input request
signal from
signal 1 to 64

Pr.423 Auxiliary shaft clutch Set the reference address for 0: Current value after composite At start of 0 D15031+150n
reference address the clutch. auxiliary shaft gear synchronous
setting 1: Current value per cycle after control
auxiliary shaft gear
Pr.424 Auxiliary shaft clutch • Set the clutch ON address for -2147483648 to 2147483647 Operation 0 D15032+150n
ON address address mode. (This setting is [Auxiliary shaft position units*1, or cam cycle D15033+150n
invalid except during address axis cycle units*2]
mode.)
• If the address is out of the
range from 0 to (Cam axis
length per cycle - 1), the
address is converted to a
value within range.
Pr.425 Travel value before • Set the travel value for the -2147483648 to 2147483647 At 0 D15034+150n
auxiliary shaft clutch distance between the clutch [Auxiliary shaft position units*1, or cam completing D15035+150n
ON ON condition completing and axis cycle units*2] clutch ON
the clutch closing. condition
• Set a positive value when the
reference address is
increasing, and a negative
value when it is decreasing.
Pr.426 Auxiliary shaft clutch • Set the clutch OFF address -2147483648 to 2147483647 Operation 0 D15036+150n
OFF address for the address mode. (This [Auxiliary shaft position units*1, or cam cycle D15037+150n
setting is invalid except during axis cycle units*2]
address mode.)
• If the address is out of the
range from 0 to (Cam axis
length per cycle - 1), the
setting address is converted
to a value within range.

6 SYNCHRONOUS CONTROL
6.2 Auxiliary Shaft Module 93
 Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.427 Travel value before • Set the travel value for the -2147483648 to 2147483647 At 0 D15038+150n
auxiliary shaft clutch distance between the clutch [Auxiliary shaft position units*1, or cam completing D15039+150n
OFF OFF condition completing axis cycle units*2] clutch OFF
and the clutch opening. condition
• Set a positive value when the
reference address is
increasing, and a negative
value when it is decreasing.
Pr.428 Auxiliary shaft clutch Set the clutch smoothing 0: Direct At start of 0 D15040+150n
smoothing method method. 1: Time constant method (Exponent) synchronous
2: Time constant method (Linear) control
3: Slippage method (Exponent)
4: Slippage method (Linear)
5: Slippage method (Linear: Input value
follow up)
Pr.429 Auxiliary shaft clutch For smoothing with a time 0 to 5000[ms] 0[ms] D15041+150n
smoothing time constant method, set the
constant smoothing time constant.
Pr.430 Slippage amount at For smoothing with a slippage 0 to 2147483647 At turning 0 D15042+150n
auxiliary shaft clutch method, set the slippage [Auxiliary shaft position units*1, or cam clutch ON D15043+150n
ON amount at clutch ON. axis cycle units*2]
Pr.431 Slippage amount at For smoothing with a slippage 0 to 2147483647 At turning 0 D15044+150n
auxiliary shaft clutch method, set the slippage [Auxiliary shaft position units*1, or cam clutch OFF D15045+150n
OFF amount at clutch OFF. axis cycle units*2]

*1 Auxiliary shaft position units (Page 30 Servo input axis position units, Page 37 Command generation axis position units,
Page 51 Synchronous encoder axis position units)
*2 Cam axis cycle units (Page 114 Cam axis cycle units)

[Pr.422] Auxiliary shaft clutch control setting (D15030+150n)

Set the ON and OFF control methods separately for the auxiliary shaft.
The clutch control setting can be changed during synchronous control, however the setting to "No clutch" (Direct coupled
operation) cannot be selected during synchronous control after already selecting another setting.
Refer to control method for clutch for details on the clutch control. (Page 99 Control method for clutch)

■ON control mode

Setting value Description
0: No clutch (Direct coupled operation) Execute direct coupled operation without clutch control.
1: Clutch command ON/OFF The clutch is turned ON/OFF by the operation of "[Rq.403] Auxiliary shaft clutch command (M11684+10n)" ON/
OFF. (Setting in the OFF control mode are not applicable in the clutch command ON/OFF mode.)
2: Clutch command leading edge The clutch is turned ON when "[Rq.403] Auxiliary shaft clutch command (M11684+10n)" passes the leading edge
(from OFF to ON).
3: Clutch command trailing edge The clutch is turned ON when "[Rq.403] Auxiliary shaft clutch command (M11684+10n)" passes the trailing edge
(from ON to OFF).
4: Address mode The clutch is turned ON when the reference address (the auxiliary shaft current value or the current value per
cycle after auxiliary shaft gear) reaches "[Pr.424] Auxiliary shaft clutch ON address (D15032+150n,
D15033+150n)".
The travel value after passing through the ON address is calculated as the output travel value of the clutch based
on the reference address passing through, thereby controlling the clutch with an accurate travel value.
5: High speed input request The clutch is turned ON when the high speed input request signal turns ON.

Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "[Rq.405]
Auxiliary shaft clutch forced OFF command (M11686+10n)" and the change of the clutch control setting are
ignored during direct coupled operation.

6 SYNCHRONOUS CONTROL
94 6.2 Auxiliary Shaft Module
■OFF control mode
Setting value Description
0: OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control.
1: One-shot OFF The clutch is turned OFF after moving the distance "[Pr.427] Travel value before auxiliary shaft clutch OFF
(D15038+150n, D15039+150n)" (One-shot operation) after the clutch command turns ON.
If "[Pr.427] Travel value before auxiliary shaft clutch OFF (D15038+150n, D15039+150n)" is 0, "[St.423] Auxiliary
shaft clutch ON/OFF status (M10562+10n)" does not turn ON in order to turn back OFF immediately.
2: Clutch command leading edge The clutch is turned OFF when "[Rq.403] Auxiliary shaft clutch command (M11684+10n)" passes the leading
edge (from OFF to ON).
3: Clutch command trailing edge The clutch is turned OFF when "[Rq.403] Auxiliary shaft clutch command (M11684+10n)" passes the trailing
edge (from ON to OFF).
4: Address mode The clutch is turned OFF when the reference address (the auxiliary shaft current value or the current value per
cycle after auxiliary shaft gear) reaches "[Pr.426] Auxiliary shaft clutch OFF address (D15036+150n,
D15037+150n)".
The travel value before passing through the OFF address is calculated as the output travel value of the clutch
based on the reference address passing through, thereby controlling the clutch with an accurate travel value.
5: High speed input request The clutch is turned OFF when the high speed input request signal turns ON.

■High speed input request signal

Set the high speed input request signal No. for the "ON control mode" and the "OFF control mode" when using the setting "5:
High speed input request". 6
Signal No. Setting value Signal No. Setting value Signal No. Setting value Signal No. Setting value
(Hexadecimal) (Hexadecimal) (Hexadecimal) (Hexadecimal)
1 00 17 10 33 20 49 30
2 01 18 11 34 21 50 31
3 02 19 12 35 22 51 32
4 03 20 13 36 23 52 33
5 04 21 14 37 24 53 34
6 05 22 15 38 25 54 35
7 06 23 16 39 26 55 36
8 07 24 17 40 27 56 37
9 08 25 18 41 28 57 38
10 09 26 19 42 29 58 39
11 0A 27 1A 43 2A 59 3A
12 0B 28 1B 44 2B 60 3B
13 0C 29 1C 45 2C 61 3C
14 0D 30 1D 46 2D 62 3D
15 0E 31 1E 47 2E 63 3E
16 0F 32 1F 48 2F 64 3F

[Pr.423] Auxiliary shaft clutch reference address setting (D15031+150n)

Select the address type to be used as the reference address for clutch control.
Setting value Description
0: Auxiliary shaft current value The clutch is controlled by using the current value for the servo input axis/command generation
axis/synchronous encoder axis that is set for the auxiliary shaft.
Output after the clutch control is a converted travel value through the auxiliary shaft gear.
1: Current value per cycle after auxiliary shaft gear The clutch is controlled by using the current value per cycle after auxiliary shaft gear.
Output after the clutch control is a travel value without conversion.

The setting units for the following parameters are in units based on the reference address setting.
• [Pr.424] Auxiliary shaft clutch ON address (D15032+150n, D15033+150n)
• [Pr.426] Auxiliary shaft clutch OFF address (D15036+150n, D15037+150n)
• [Pr.425] Travel value before auxiliary shaft clutch ON (D15034+150n, D15035+150n), [Pr.427] Travel value before auxiliary
shaft clutch OFF (D15038+150n, D15039+150n)
• [Pr.430] Slippage amount at auxiliary shaft clutch ON (D15042+150n, D15043+150n), [Pr.431] Slippage amount at auxiliary
shaft clutch OFF (D15044+150n, D15045+150n)

6 SYNCHRONOUS CONTROL
6.2 Auxiliary Shaft Module 95
 [Pr.424] Auxiliary shaft clutch ON address (D15032+150n, D15033+150n)
Set the clutch ON address when address mode is configured for the ON control mode of the auxiliary shaft clutch.
When the reference address is the current value per cycle after auxiliary shaft gear, the setting address is converted for
control within the range from 0 to (Cam axis length per cycle - 1).

Ex.
Cam axis length per cycle: 20000[pulse]
The ON address is controlled as 19000[pulse] when the setting value is -1000.

[Pr.425] Travel value before auxiliary shaft clutch ON (D15034+150n, D15035+150n)

Set the travel value for the reference address with a signed numbers for the distance between the clutch ON condition
completing and the clutch closing.
Setting value Description
1to 2147483647(Positive value) Used when the reference address is increasing in direction.
0 No movement (The clutch is immediately turned ON with the clutch ON condition completing.)
-2147483648 to -1(Negative value) Used when the reference address is decreasing in direction.

Clutch ON condition is completed ON

(Example: [Rq.403] Auxiliary shaft clutch OFF
command (M11684+10n) ON)
ON
[St.423] Auxiliary shaft clutch ON/OFF
status (M10562+10n) OFF

Auxiliary shaft current value or

[Md.402] Current value per cycle after
auxiliary shaft gear t
(D13604+30n, D13605+30n) [Pr.425] Travel value before auxiliary shaft
clutch ON (D15034+150n, D15035+150n)
(Positive value)
Travel value after clutch
t

[Pr.426] Auxiliary shaft clutch OFF address (D15036+150n, D15037+150n)

Set the clutch OFF address when address mode is configured for the OFF control mode of the auxiliary shaft clutch.
When the reference address is the current value per cycle after auxiliary shaft gear, the setting address is converted for
control within the range from 0 to (Cam axis length per cycle - 1).

Ex.
Cam axis length per cycle: 20000[pulse]
The OFF address is controlled as 60[pulse] when the setting value is 40060.

6 SYNCHRONOUS CONTROL
96 6.2 Auxiliary Shaft Module
[Pr.427] Travel value before auxiliary shaft clutch OFF (D15038+150n, D15039+150n)
Set the travel value for the reference address with a signed numbers for the distance between the clutch OFF condition
completing and the clutch opening.
Setting value Description
1 to 2147483647(Positive value) Used when the reference address is increasing in direction.
0 No movement. (The clutch is immediately turned OFF with the clutch OFF condition completing.)
-2147483648 to -1(Negative value) Used when the reference address is decreasing in direction.

Clutch ON condition is completed ON

(Example: [Rq.403] Auxiliary shaft clutch OFF
command (M11684+10n) ON)
ON
[St.423] Auxiliary shaft clutch ON/OFF
status (M10562+10n) OFF

Auxiliary shaft current value or

[Md.402] Current value per cycle after
auxiliary shaft gear t
(D13604+30n, D13605+30n) [Pr.427] Travel value before auxiliary shaft
clutch OFF (D15038+150n, D15039+150n)
(Positive value)
Travel value after clutch
t
6
[Pr.428] Auxiliary shaft clutch smoothing method (D15040+150n)
Set the smoothing method for clutch ON/OFF. (Page 104 Smoothing method for clutch)
Setting value Description
0: Direct No smoothing.
1: Time constant method (Exponent) Smoothing with an exponential curve based on the time constant setting.
2: Time constant method (Linear) Smoothing with linear acceleration/deceleration based on the time constant setting.
3: Slippage method (Exponent) Smoothing with an exponential curve based on the slippage amount setting.
4: Slippage method (Linear) Smoothing with linear acceleration/deceleration based on the slippage amount setting.
5: Slippage method (Linear: Input value follow up) Smoothing with linear acceleration/deceleration based on the slippage amount setting.

[Pr.429] Auxiliary shaft clutch smoothing time constant (D15041+150n)

Set a time constant when the time constant method is set in "[Pr.428] Auxiliary shaft clutch smoothing method
(D15040+150n)".
The time constant setting applies for both clutch ON/OFF.

[Pr.430] Slippage amount at auxiliary shaft clutch ON (D15042+150n, D15043+150n)

Set the slippage amount at clutch ON when the slippage method is set in "[Pr.428] Auxiliary shaft clutch smoothing method
(D15040+150n)".
The slippage amount is set in units based on the current value selected in "[Pr.423] Auxiliary shaft clutch reference address
setting (D15031+150n)".
If the set amount is negative, the slippage amount at clutch ON is controlled as 0 (direct).

[Pr.431] Slippage amount at auxiliary shaft clutch OFF (D15044+150n, D15045+150n)

Set the slippage amount at clutch OFF when the slippage method is set in "[Pr.428] Auxiliary shaft clutch smoothing method
(D15040+150n)".
The slippage amount is set in units based on the current value selected in "[Pr.423] Auxiliary shaft clutch reference address
setting (D15031+150n)".
If the set amount is negative, the slippage amount at clutch OFF is controlled as 0 (direct).

6 SYNCHRONOUS CONTROL
6.2 Auxiliary Shaft Module 97
 Auxiliary shaft clutch control data
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Rq.403 Auxiliary shaft clutch Set the clutch command ON/OFF. OFF: Auxiliary shaft clutch Operation OFF M11684+10n
command command OFF cycle
ON: Auxiliary shaft clutch
command ON
Rq.404 Auxiliary shaft clutch Set the command to disable the clutch OFF: Auxiliary shaft clutch control OFF M11685+10n
control invalid control temporarily. valid
command ON: Auxiliary shaft clutch control
invalid
Rq.405 Auxiliary shaft clutch Set the command to force the clutch OFF: Auxiliary shaft clutch normal OFF M11686+10n
forced OFF command OFF. control
ON: Auxiliary shaft clutch forced
OFF

[Rq.403] Auxiliary shaft clutch command (M11684+10n)

Use ON/OFF for the auxiliary shaft clutch command. This command is used when the clutch ON control mode is "1: Clutch
command ON/OFF", "2: Clutch command leading edge" or "3: Clutch command trailing edge", and the clutch OFF control
mode is either "2: Clutch command leading edge" or "3: Clutch command trailing edge".
Status is considered as clutch command OFF just before starting synchronous control. If synchronous control is started while
the clutch command is ON, the condition is established just after starting synchronous control, by setting "2: Clutch command
leading edge". The condition is not established just after starting, by setting "3: Clutch command trailing edge".

[Rq.404] Auxiliary shaft clutch control invalid command (M11685+10n)

The auxiliary shaft clutch control is invalid if ON is set. The previous clutch ON/OFF status remains before clutch control
becomes invalid.
Clutch control will not become invalid during movement before clutch ON and clutch OFF. Instead, clutch control will become
invalid after movement is completed.

[Rq.405] Auxiliary shaft clutch forced OFF command (M11686+10n)

Set ON to force the clutch OFF. The output value from the clutch becomes 0 immediately, even during clutch smoothing. The
slippage (accumulative) amount is set to 0 if smoothing with a slippage method.
Reset to OFF to restart the clutch control from the clutch OFF status after using the clutch forced OFF command.

6 SYNCHRONOUS CONTROL
98 6.2 Auxiliary Shaft Module
6.3 Clutch
Overview of clutch
The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output module side
through turning the clutch ON/OFF, which controls the operation/stop of the servomotor.
A clutch can be configured for the main and auxiliary shafts.

Control method for clutch

Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting (D15008+150n)" and "[Pr.422]
Auxiliary shaft clutch control setting (D15030+150n)".
Although the clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct
coupled operation) cannot be selected during synchronous control after already selecting another setting.
Item Setting item Setting details Setting value
Main shaft clutch Auxiliary shaft
clutch
Clutch control
setting
[Pr.405] Main shaft clutch
control setting
[Pr.422] Auxiliary shaft
clutch control setting
Set the clutch control
method.
• Set in hexadecimal.
6
H
(D15008+150n) (D15030+150n)
ON control mode
0: No clutch
1: Clutch command ON/OFF
2: Clutch command leading
edge
3: Clutch command trailing
edge
4: Address mode
5: High speed input request
OFF control mode
0: OFF control invalid
1: One-shot OFF
2: Clutch command leading
edge
3: Clutch command trailing
edge
4: Address mode
5: High speed input request
High speed input request signal
00 to 3F: High speed input
request signal from
signal 1 to 64

When the clutch ON condition and the clutch OFF condition are completed simultaneously within one operation cycle, both
clutch ON and OFF processing are executed within one operation cycle. Therefore, the clutch is from OFF to ON and again to
OFF at the clutch OFF status, and it is from ON to OFF and again to ON at the clutch ON status.
The ON and OFF control mode setting for clutch ON/OFF are shown below.

6 SYNCHRONOUS CONTROL
6.3 Clutch 99
 ON control mode
■No clutch (Direct coupled operation)
Execute direct coupled operation without clutch control.

Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "Clutch
forced OFF command" and the change of the clutch control setting are ignored during direct coupled
operation.

■Clutch command ON/OFF

The clutch is turned ON/OFF by the operation of clutch command ON/OFF.
(Setting in the OFF control mode are not applicable in the clutch command ON/OFF mode.)
ON
Clutch command OFF
ON
Clutch ON/OFF status OFF

Current value before clutch

t

Travel value after clutch

t

Item Main shaft clutch Auxiliary shaft clutch

Clutch command [Rq.400] Main shaft clutch command (M11680+10n) [Rq.403] Auxiliary shaft clutch command (M11684+10n)
Clutch ON/OFF status [St.420] Main shaft clutch ON/OFF status (M10560+10n) [St.423] Auxiliary shaft clutch ON/OFF status (M10562+10n)

■Clutch command leading edge

The clutch is turned ON when the clutch command passes the leading edge (from OFF to ON).
ON
Clutch command OFF
ON
Clutch ON/OFF status OFF

Current value before clutch

t

Travel value after clutch

t

■Clutch command trailing edge

The clutch is turned ON when the clutch command passes the trailing edge (from ON to OFF).
ON
Clutch command OFF
ON
Clutch ON/OFF status OFF

Current value before clutch

t

Travel value after clutch

t

6 SYNCHRONOUS CONTROL
100 6.3 Clutch
■Address mode
The clutch is turned ON when the reference address reaches "Clutch ON address".
The travel value after passing through the ON address is calculated as the output travel value of the clutch based on the
reference address passing through, thereby controlling the clutch with an accurate travel value.
ON
Clutch ON/OFF status OFF
Clutch ON address
Current value specified in clutch
reference address setting t

Travel value after clutch

t

Item Main shaft clutch Auxiliary shaft clutch

Reference address The current value specified in "[Pr.406] Main shaft clutch The current value specified in "[Pr.423] Auxiliary shaft clutch
reference address setting (D15009+150n)"(“[Md.400] Current reference address setting (M15031+150n)"(Auxiliary shaft
value after composite main shaft gear (D13600+30n, current value (servo input axis current value/synchronous
D13601+30n)" or "[Md.401] Current value per cycle after main encoder axis current value) or "[Md.402] Current value per
shaft gear (D13602+30n, D13603+30n)") cycle after auxiliary shaft gear (D13604+30n, D13605+30n)")
Clutch ON address [Pr.407] Main shaft clutch ON address (D15010+150n, [Pr.424] Auxiliary shaft clutch ON address (D15032+150n,
D15011+150n) D15033+150n)
Clutch ON/OFF status [St.420] Main shaft clutch ON/OFF status (M10560+10n) [St.423] Auxiliary shaft clutch ON/OFF status (M10562+10n)
6
■High speed input request
The clutch is turned ON when the high speed input request signal turns ON.
The following actions are required when using the high speed input request.
• Set the signal No. for the "High speed input request signal" clutch control setting.
• Set the input signal to be used by [Motion CPU Common Parameter]  [High speed input request signal].
ON
High speed input request signal OFF
ON
Clutch ON/OFF status OFF

Current value before clutch

t

Travel value after clutch

t

6 SYNCHRONOUS CONTROL
6.3 Clutch 101
 OFF control mode
■ OFF control invalid
Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control.

■One-shot OFF
The clutch is turned OFF after moving the distance "Travel value before clutch OFF" (One-shot operation) after the clutch
command turn ON.
If "Travel value before clutch OFF" is 0, "Clutch ON/OFF status" does not turn ON in order to turn back OFF immediately.
ON
Clutch command OFF
ON
Clutch ON/OFF status OFF

Current value before clutch

t
Travel value before clutch OFF
Travel value after clutch
t

Item Main shaft clutch Auxiliary shaft clutch

Clutch command [Rq.400] Main shaft clutch command (M11680+10n) [Rq.403] Auxiliary shaft clutch command (M11684+10n)
Clutch ON/OFF status [St.420] Main shaft clutch ON/OFF status (M10560+10n) [St.423] Auxiliary shaft clutch ON/OFF status (M10562+10n)
Travel value before clutch [Pr.410] Travel value before main shaft clutch OFF [Pr.427] Travel value before auxiliary shaft clutch OFF
OFF (D15016+150n, D15017+150n) (D15038+150n, D15039+150n)

■Clutch command leading edge

The clutch is turned OFF when the clutch command passes the leading edge (from OFF to ON).
ON
Clutch command OFF
ON
Clutch ON/OFF status OFF

Current value before clutch

t

Travel value after clutch

t

■Clutch command trailing edge

The clutch is turned OFF when the clutch command passes the trailing edge (from ON to OFF).
ON
Clutch command OFF
ON
Clutch ON/OFF status OFF

Current value before clutch

t

Travel value after clutch

t

6 SYNCHRONOUS CONTROL
102 6.3 Clutch
■Address mode
The clutch is turned OFF when the reference address reaches "Clutch OFF address".
The travel value before passing through the OFF address is calculated as the output travel value of the clutch based on the
reference address passing through, thereby controlling the clutch with an accurate travel value.
ON
Clutch ON/OFF status OFF
Clutch OFF address
Current value specified in clutch
reference address setting t

Travel value after clutch

t

Item Main shaft clutch Auxiliary shaft clutch

Reference address The current value specified in "[Pr.406] Main shaft clutch The current value specified in "[Pr.423] Auxiliary shaft clutch
reference address setting (D15009+150n)" ("[Md.400] reference address setting (D15031+150n)"(Auxiliary shaft
Current value after composite main shaft gear (D13600+30n, current value (servo input axis current value/synchronous
D13601+30n)" or "[Md.401] Current value per cycle after encoder axis current value) or "[Md.402] Current value per
main shaft gear (D13602+30n, D13603+30n)") cycle after auxiliary shaft gear (D13604+30n, D13605+30n)")
Clutch OFF address [Pr.409] Main shaft clutch OFF address (D15014+150n, [Pr.426] Auxiliary shaft clutch OFF address(D15036+150n,
D15015+150n) D15037+150n)
Clutch ON/OFF status [St.420] Main shaft clutch ON/OFF status (M10560+10n) [St.423] Auxiliary shaft clutch ON/OFF status (M10562+10n)
6
■High speed input request
The clutch is turned OFF when the high speed input request signal turns ON.
The following actions are required when using the high speed input request.
• Set the signal No. for the "High speed input request signal" clutch control setting.
• Set the input signal to be used by [Motion CPU Common Parameter]  [High speed input request signal].
ON
High speed input request signal OFF
ON
Clutch ON/OFF status OFF

Current value before clutch

t

Travel value after clutch

t

6 SYNCHRONOUS CONTROL
6.3 Clutch 103
 Smoothing method for clutch
Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method (D15018+150n)" and "[Pr.428] Auxiliary
shaft clutch smoothing method (D15040+150n)".
The 2 types of clutch smoothing include the following.
• Time constant method smoothing
• Slippage method smoothing
When not using clutch smoothing, set "0: Direct" in the clutch smoothing method.
Item Setting item Setting details Setting value
Main shaft clutch Auxiliary shaft clutch
Clutch smoothing [Pr.411] Main shaft clutch [Pr.428] Auxiliary shaft clutch Set the clutch smoothing 0: Direct
method smoothing method smoothing method method. 1: Time constant method
(D15018+150n) (D15040+150n) (Exponent)
2: Time constant method
(Linear)
3: Slippage method (Exponent)
4: Slippage method (Linear)
5: Slippage method (Linear:
Input value follow up)

The operation of each smoothing method is shown below.

Time constant method smoothing

Smoothing is processed with the time constant setting value in the smoothing time constant at clutch ON/OFF. After clutch ON
smoothing is complete, smoothing is processed with the time constant setting value when the speed of the input values
changes.
The travel value between the clutch turning ON and OFF is not changed with smoothing.
Travel value after clutch smoothing = Travel value before clutch smoothing
Item Setting item Setting details Setting value
Main shaft clutch Auxiliary shaft clutch
Clutch smoothing time [Pr.412] Main shaft clutch [Pr.429] Auxiliary shaft clutch For smoothing with a time 0 to 5000[ms]
constant smoothing time constant smoothing time constant constant method, set the
(D15019+150n) (D15041+150n) smoothing time constant.

■Time constant method exponential curve smoothing

Set "1: Time constant method (Exponential)" in the clutch smoothing method.
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Speed before clutch processing

t
63%
Speed after clutch smoothing 63%
t

Clutch smoothing time constant

Item Main shaft clutch Auxiliary shaft clutch

Clutch ON/OFF status [St.420] Main shaft clutch ON/OFF status (M10560+10n) [St.423] Auxiliary shaft clutch ON/OFF status (M10562+10n)
Clutch smoothing status [St.421] Main shaft clutch smoothing status (M10561+10n) [St.424] Auxiliary shaft clutch smoothing status (M10563+10n)

6 SYNCHRONOUS CONTROL
104 6.3 Clutch
■Time constant method linear acceleration/deceleration smoothing
Set "2: Time constant method (Linear)" in the clutch smoothing method.
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Speed before clutch processing

t

Speed after clutch smoothing

t

Clutch smoothing time constant

Slippage method smoothing

Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF
when the clutch turns OFF.
Smoothing is also processed with the slippage amount setting when the input speed to the clutch changes, therefore,
positioning control at clutch ON/OFF is not affected by speed changes. 6
Processing proceeds with direct operation after completing clutch ON smoothing.
The travel value between the clutch turning ON and OFF is as follows after clutch smoothing.
Travel value after clutch smoothing=Travel value before clutch smoothing+(Slippage amount at OFF-Slippage amount at ON)
Item Setting item Setting details Setting value
Main shaft clutch Auxiliary shaft clutch
Slippage amount at [Pr.413] Slippage amount at [Pr.430] Slippage amount at For smoothing with a 0 to 2147483647
clutch ON main shaft clutch ON auxiliary shaft clutch ON slippage method, set the [Main input axis position units*1/
(D15020+150n, (D15042+150n, slippage amount at clutch auxiliary shaft position units*2, or
D15021+150n) D15043+150n) ON. cam axis cycle units*3]
Slippage amount at [Pr.414] Slippage amount at [Pr.431] Slippage amount at For smoothing with a
clutch OFF main shaft clutch OFF auxiliary shaft clutch OFF slippage method, set the
(D15022+150n, (D15044+150n, slippage amount at clutch
D15023+150n) D15045+150n) OFF.

*1 Main input axis position units (Page 30 Servo input axis position units, Page 37 Command generation axis position units,
Page 51 Synchronous encoder axis position units)
*2 Auxiliary shaft position units (Page 30 Servo input axis position units, Page 37 Command generation axis position units,
Page 51 Synchronous encoder axis position units)
*3 Cam axis cycle units (Page 114 Cam axis cycle units)

■Slippage method exponential curve smoothing

Set "3: Slippage (Exponential)" in the clutch smoothing method.
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Speed before clutch processing

t

Speed after clutch smoothing

t

Slippage amount at clutch ON Slippage amount at clutch OFF

Item Main shaft clutch Auxiliary shaft clutch

Clutch ON/OFF status [St.420] Main shaft clutch ON/OFF status (M10560+10n) [St.423] Auxiliary shaft clutch ON/OFF status (M10562+10n)
Clutch smoothing status [St.421] Main shaft clutch smoothing status (M10561+10n) [St.424] Auxiliary shaft clutch smoothing status (M10563+10n)

6 SYNCHRONOUS CONTROL
6.3 Clutch 105
 ■Slippage method linear acceleration/deceleration smoothing
Set "4: Slippage method (Linear)", or "5: Slippage method (Linear: Input value follow up)" in the clutch smoothing method.
The difference between "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" is shown
below.
Input speed during Smoothing method
smoothing 4: Slippage method (Linear) 5: Slippage method (Linear: Input value follow
up)
When input speed is fixed No difference
When there is a continuous small The output speed (smoothing section) fluctuates according The output speed (smoothing section) is fixed regardless of
oscillation in the input speed to the input speed when clutch is ON. the input speed when clutch is ON.
When input speed has a large The fluctuation in the output speed (smoothing section) is The output speed (smoothing section) fluctuates with the
fluctuation small. (The average speed may rise higher than before the input speed. (When reaccelerating after the input speed is
start of smoothing) dropped, a sudden acceleration may occur)

• When input speed is fixed

The operation for "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" is the same.
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Speed before clutch processing

t

Speed after clutch smoothing

t

Slippage amount at clutch ON Slippage amount at clutch OFF

• When there is a continuous small oscillation in the input speed
• When "4: Slippage method (Linear)" is set
The clutch smoothing status ON section changes with the fluctuation of the input speed.
• When the clutch smoothing status ON section is extended

ON
Clutch ON/OFF status OFF ON section extends
ON
Clutch smoothing status OFF

Input speed
(Speed before clutch processing)
t

Output speed
(Speed after clutch processing)
t

Slippage amount Clamped at low speed Slippage amount

at clutch ON at clutch OFF
• When the clutch smoothing status ON section is shortened

ON
Clutch ON/OFF status OFF ON section shortens
ON
Clutch smoothing status OFF

Input speed
(Speed before clutch processing)
t

Output speed
(Speed after clutch processing)
t

Slippage amount Clamped at high speed Slippage amount

at clutch ON at clutch OFF

6 SYNCHRONOUS CONTROL
106 6.3 Clutch
 • When "5: Slippage method (Linear: Input value follow up)" is set
The clutch smoothing status ON section is fixed.

ON
Clutch ON/OFF status OFF ON section is fixed
ON
Clutch smoothing status OFF

Input speed
(Speed before clutch processing)
t

Output speed
(Speed after clutch processing)
t

Slippage amount at clutch ON Slippage amount at clutch OFF

• When input speed has a large fluctuation

• When "4: Slippage method (Linear)" is set
The fluctuation in the output speed is smaller compared to the fluctuation in the input speed.
(The average speed may rise higher than before the start of smoothing)

ON

6
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Input speed
(Speed before clutch processing)
t

Output speed
(Speed after clutch processing)
t
Smaller speed fluctuation
Slippage amount at clutch OFF
Slippage amount at clutch ON
• When "5: Slippage method (Linear: Input value follow up)" is set
The output speed fluctuates with the input speed.
(When re-accelerating after the input speed is dropped, a sudden acceleration may occur)

ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Input speed
(Speed before clutch processing)
t

Output speed
(Speed after clutch processing)
t
The output speed
Slippage amount Slippage amount
fluctuates with the
at clutch ON at clutch OFF
input speed

6 SYNCHRONOUS CONTROL
6.3 Clutch 107
 ■Operation at input speed deceleration during slippage method smoothing
When the speed before clutch processing decreases, the speed after clutch smoothing is controlled without exceeding the
speed before clutch processing.
If slippage amount remains when the speed before clutch processing becomes 0, the smoothing process will be continued.
And when the speed before clutch processing gets faster than the speed after clutch smoothing, clutch smoothing takes place
for the remainder slippage amount.
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Input speed
(Speed before clutch processing)
t
Slippage amount
Output speed at clutch OFF
(Speed after clutch processing)
t

Slippage amount Deceleration without Clutch smoothing takes place

at clutch ON exceeding the speed for the remainder slippage
before clutch since the speed before clutch
processing. processing gets faster.

6 SYNCHRONOUS CONTROL
108 6.3 Clutch
Use example of clutch
The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start
signal from a sensor input.
Sensor input
(High speed input
request signal) Main shaft
gear

Main shaft
M Main shaft
main input axis
clutch
(Synchronous
100mm(3.94inch) Output axis
encoder axis)
Synchronous
encoder Waiting position Output axis
Sensor position (Linear cam)

Main shaft clutch setting item Setting value

[Pr.405] Main shaft clutch control setting ON control mode 5: High speed input request
(D15008+150n)
OFF control mode 1: One-shot OFF
High speed input request signal (Specify the high speed input request signal No., used for sensor input.)

6
[Pr.406] Main shaft clutch reference address setting (D15009+150n) 0: Current value after composite main shaft gear
[Pr.408] Travel value before main shaft clutch ON (D15012+150n, D15013+150n) 0[mm] (0[inch])
[Pr.410] Travel value before main shaft clutch OFF (D15016+150n, D15017+150n) 380[mm] (14.96[inch])
[Pr.411] Main shaft clutch smoothing method (D15018+150n) 4: Slippage method (Linear)
[Pr.413] Slippage amount at main shaft clutch ON (D15020+150n, D15021+150n) 100[mm] (3.94[inch])
(Distance between the sensor and the waiting position)
[Pr.414] Slippage amount at main shaft clutch OFF (D15022+150n, D15023+150n) 20[mm] (0.79[inch])

Synchronous encoder axis and output axis in synchronization

ON
High speed input request signal OFF
ON
Clutch smoothing status OFF
ON
Clutch ON/OFF status OFF

Synchronous encoder axis speed

t
Cutting...After clutch smoothing
All travel value of output axis
...380mm+(20mm-100mm)=300mm
Output axis speed (14.96inch+(0.79inch-3.94inch)=11.81inch)
t

Complete synchronous control and

Slippage amount at clutch ON Slippage amount at clutch OFF return to the waiting position by
...Distance between the ...Set as 20mm(0.79inch) to positioning control.
sensor and the waiting stop early. (It can be returned by auxiliary shaft
position (100mm(3.94inch)) without changing synchronous control.)

6 SYNCHRONOUS CONTROL
6.3 Clutch 109
 6.4 Speed Change Gear Module
Overview of speed change gear module
A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft
gear during operation. When not using a speed change gear module, set "0: No speed change gear" in "[Pr.434] Speed
change gear1 (D15046+150n)" and "[Pr.490] Speed change gear2 (D15052+150n)".
With speed change from a speed change gear module, operation is executed with linear acceleration/deceleration based on
the setting for the speed change gear smoothing time constant.

[Arrangement the speed change gear]

Arranged on two of "Main shaft side",
Main shaft
"Auxiliary shaft side" or "After
clutch
Input value composite auxiliary shaft gear".
[Pr.434]Speed change gear 1 (D15046+150n) Speed
[Pr.435]Speed change gear 1 smoothing time Auxiliary Speed change
shaft change gear
constant (D15047+150n) Speed
[Pr.436]Speed change ratio 1: Numerator change gear clutch gear
(D15048+150n, D15049+150n) Composite
auxiliary
[Pr.437]Speed change ratio 1: Denominator
shaft gear
(D15050+150n, D15051+150n)
[Pr.490]Speed change gear 2 (D15052+150n) Speed
[Pr.491]Speed change gear 2 smoothing time change
constant (D15053+150n) gear
[Pr.492]Speed change ratio 2: Numerator
Output value
(D15054+150n, D15055+150n)
[Pr.493]Speed change ratio 2: Denominator Cam
(D15056+150n, D15057+150n) Output axis

Input value speed

before speed change

t
[Pr.436] Speed change ratio 1: Numerator
(D15048+150n, D15049+150n)
100000 50000 -50000
[Pr.492] Speed change ratio 2: Numerator
(D15054+150n, D15055+150n)
[Pr.437] Speed change ratio 1: Denominator
(D15050+150n, D15051+150n)
100000 100000 100000
[Pr.493] Speed change ratio 2: Denominator
(D15056+150n, D15057+150n)
Input value speed
after speed change

[Pr.435] Speed change gear 1 [Pr.435] Speed change gear 1

smoothing time constant smoothing time constant
(D15047+150n) (D15047+150n)
[Pr.491] Speed change gear 2 [Pr.491] Speed change gear 2
smoothing time constant smoothing time constant
(D15053+150n) (D15053+150n)

6 SYNCHRONOUS CONTROL
110 6.4 Speed Change Gear Module
Speed change gear parameters
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.434 Speed change gear 1 Set the arrangement for the speed 0: No speed change gear At start of 0 D15046+150n
change gear 1. 1: Main shaft side synchronous
2: Auxiliary shaft side control
3: After composite auxiliary shaft
gear
Pr.435 Speed change gear 1 Set the smoothing time constant for 0 to 5000[ms] 0[ms] D15047+150n
smoothing time the speed change gear 1.
constant
Pr.436 Speed change ratio 1: Set the numerator for the speed -2147483648 to 2147483647 Operation 1 D15048+150n
Numerator change ratio 1. cycle D15049+150n
Pr.437 Speed change ratio 1: Set the denominator for the speed 1 to 2147483647 1 D15050+150n
Denominator change ratio 1. D15051+150n
Pr.490 Speed change gear 2 Set the arrangement for the speed 0: No speed change gear At start of 0 D15052+150n
change gear 2. 1: Main shaft side synchronous
2: Auxiliary shaft side control
3: After composite auxiliary shaft
gear
Pr.491 Speed change gear 2 Set the smoothing time constant for 0 to 5000[ms] 0[ms] D15053+150n 6
smoothing time the speed change gear 2.
constant
Pr.492 Speed change ratio 2: Set the numerator for the speed -2147483648 to 2147483647 Operation 1 D15054+150n
Numerator change ratio 2. cycle D15055+150n
Pr.493 Speed change ratio 2: Set the denominator for the speed 1 to 2147483647 1 D15056+150n
Denominator change ratio 2. D15057+150n

[Pr.434] Speed change gear 1 (D15046+150n)

Set the arrangement for the speed change gear 1. The speed change gear 1 and speed change gear 2 cannot be set in the
same arrangement. If they are set in the same arrangement, the minor error (error code: 1C08H) occurs and the synchronous
control cannot be started.
Setting value Description
0: No speed change gear Speed change is not processed, and the input value is transmitted as is.
1: Main shaft side Speed change is processed for input value after main shaft clutch based on the speed change ratio settings.
2: Auxiliary shaft side Speed change is processed for input value after auxiliary shaft clutch based on the speed change ratio settings.
3: After composite auxiliary shaft gear Speed change is processed for input value after composite auxiliary shaft gear based on the speed change ratio
settings.

[Pr.435] Speed change gear 1 smoothing time constant (D15047+150n)

Set the averaging time to execute a smoothing process for the speed change for the speed change gear.
The input response is delayed depending on the time corresponding the speed change gear smoothing time constant.
Speed is changed directly when "0" is set.

[Pr.436] Speed change ratio 1: Numerator (D15048+150n, D15049+150n)

Set the numerator for the speed change ratio 1.
Speed change ratio 1: Numerator can be changed during synchronous control.
Input values for speed change are processed as follows.

Speed change ratio: Numerator

Input value after change = Input value before change ×
Speed change ratio: Denominator
The input speed can be reversed by setting a negative value in Speed change ratio 1: Numerator.
Speed change ratio: Denominator is set within the range from 1 to 2147483647.

6 SYNCHRONOUS CONTROL
6.4 Speed Change Gear Module 111
 [Pr.437] Speed change ratio 1: Denominator (D15050+150n, D15051+150n)
Set the denominator for the speed change ratio 1.
Speed change ratio 1: Denominator can be changed during synchronous control.
Set together with the speed change ratio 1: Numerator. (Page 111 [Pr.436] Speed change ratio 1: Numerator
(D15048+150n, D15049+150n))

[Pr.490] Speed change gear 2 (D15052+150n)

Set the arrangement for the speed change gear 2. The speed change gear 1 and speed change gear 2 cannot be set in the
same arrangement. If they are set in the same arrangement, the minor error (error code: 1C08H) occurs and the synchronous
control cannot be started.
Setting value Description
0: No speed change gear Speed change is not processed, and the input value is transmitted as is.
1: Main shaft side Speed change is processed for input value after main shaft clutch based on the speed change ratio settings.
2: Auxiliary shaft side Speed change is processed for input value after auxiliary shaft clutch based on the speed change ratio settings.
3: After composite auxiliary shaft gear Speed change is processed for input value after composite auxiliary shaft gear based on the speed change ratio
settings.

[Pr.491] Speed change gear 2 smoothing time constant (D15053+150n)

Set the averaging time to execute a smoothing process for the speed change for the speed change gear.
The input response is delayed depending on the time corresponding the speed change gear smoothing time constant.
Speed is changed directly when "0" is set.

[Pr.492] Speed change ratio 2: Numerator (D15054+150n, D15055+150n)

Set the numerator for the speed change ratio 2.
Speed change ratio 2: Numerator can be changed during synchronous control.
Input values for speed change are processed as follows.

Speed change ratio: Numerator

Input value after change = Input value before change ×
Speed change ratio: Denominator
The input speed can be reversed by setting a negative value in Speed change ratio 2: Numerator.
Speed change ratio 2: Denominator is set within the range from 1 to 2147483647.

[Pr.493] Speed change ratio 2: Denominator (D15056+150n, D15057+150n)

Set the denominator for the speed change ratio 2.
Speed change ratio 2: Denominator can be changed during synchronous control.
Set together with the Speed change ratio 2: Numerator. (Page 112 [Pr.492] Speed change ratio 2: Numerator
(D15054+150n, D15055+150n))

6 SYNCHRONOUS CONTROL
112 6.4 Speed Change Gear Module
6.5 Output Axis Module
Overview of output axis module
For the output axis module, the cam axis current value per cycle is calculated based on the input value (the output value from
a speed change gear), and is converted based on the cam data settings as output commands to the servo amplifier.
Input value

[Pr.438] Cam axis cycle unit setting

(D15058+150n)
(No influence on control)
[Pr.448] Synchronous control parameter
block No.(D15069+150n)

[Pr.444] Cam axis phase compensation

advance time Cam axis phase
[Md.406] Cam axis phase compensation amount
(D15066+150n, D15067+150n) compensation
(D13610+30n, D13611+30n)
[Pr.445] Cam axis phase compensation processing
time constant(D15068+150n)

[Pr.439] Cam axis length per cycle

(D15060+150n, D1561+150n)
[Pr.440] Cam No.(D15062+150n) 6
[Pr.441] Cam stroke amount
(D15064+150n, D1565+150n) [Md.410] Execute cam No.
Cam data Cam conversion (D13618+30n)
processing [Md.411] Execute cam stroke amount
(D13620+30n, D13621+30n)
[Md.407] Cam axis current value per cycle
(D13612+30n, D13613+30n)
[Md.408] Cam reference position
(D13614+30n, D13615+30n)
[Md.409] Cam axis current feed value
(D13616+30n, D13617+30n)
Output axis
[Pr.447] Output axis smoothing time
smoothing
constant (D15070+150n)
processing

[Md.20] Feed current value

(D0+20n, D1+20n)

6 SYNCHRONOUS CONTROL
6.5 Output Axis Module 113
 Units for the output axis
■Output axis position units
The position units for the output axis are shown below based on the setting "Unit setting" of fixed parameter.
Setting value of Unit setting Output axis position unit Range
0: mm 10-1m -214748364.8 to 214748364.7[m]
1: inch 10-5inch -21474.83648 to 21474.83647[inch]
2: degree 10-5degree -21474.83648 to 21474.83647[degree]
3: pulse pulse -2147483648 to 2147483647[pulse]

■Cam axis cycle units

Cam axis cycle units are shown below based on the setting "[Pr.438] Cam axis cycle unit setting (D15058+150n)".
Setting value of "[Pr.438] Cam axis cycle unit setting Cam axis cycle unit Range
(D15058+150n)"
Unit setting selection Control unit Number of
decimal places
0: Use units of main input axis   Servo input axis position unit (Page 30 Servo input axis position units)
Command generation axis position unit (Page 37 Command generation axis
position units)
Synchronous encoder axis position unit (Page 51 Synchronous encoder axis
position units)
1: Use units of this setting 0: mm 0 mm -2147483648 to 2147483647[mm]
  
9 10-9mm -2.147483648 to 2.147483647[mm]
1: inch 0 inch -2147483648 to 2147483647[inch]
  
9 10-9inch -2.147483648 to 2.147483647[inch]
2: degree 0 degree -2147483648 to 2147483647[degree]
  
9 10-9degree -2.147483648 to 2.147483647[degree]
3: pulse 0 pulse -2147483648 to 2147483647[pulse]
  
9 10-9pulse -2.147483648 to 2.147483647[pulse]

6 SYNCHRONOUS CONTROL
114 6.5 Output Axis Module
Output axis parameters
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.438 Cam axis cycle unit • Set the units for the cam axis • Set in hexadecimal. At start of 0000h D15058+150n
setting length per cycle. synchronous
H
• There is no influence on the control
Control unit
control for the parameter for
0: mm
monitor display.
1: inch
2: degree
3: pulse
Number of
decimal places
0 to 9
b0: Unit setting
selection
0: Use units of
main input
axis
1: Use units of
this setting
b1 to 3: Not used

Pr.439 Cam axis length per Set the required input amount 1 to 2147483647 At start of 4194304 D15060+150n 6
cycle with the cam per cycle. [Cam axis cycle units]*1 synchronous D15061+150n
control, At
Pr.440 Cam No. Set the cam No. 0: Linear cam (Preset) 0 D15062+150n
passing
1 to 1024: User created cam
through the
Pr.441 Cam stroke amount • Set the cam stroke amount -2147483648 to 2147483647 0th point of 4194304 D15064+150n
corresponding to the stroke [Output axis position units]*2 cam data D15065+150n
ratio 100% for cam with
stroke ratio data format.
• This is ignored for cams using
the coordinate data format.
Pr.442 Cam axis length per Set when changing [Pr. 439] 0: Invalid At start of 0 D15059+150n
cycle change setting Cam axis length per cycle 1: Valid synchronous
(D15060+150n, D15061+150n) control
during synchronous control.
Pr.444 Cam axis phase Set the time to advance or delay -2147483648 to 2147483647[s] Operation 0[s] D15066+150n
compensation the phase of the cam axis. cycle D15067+150n
advance time
Pr.445 Cam axis phase Set the time constant to affect 0 to 65535[ms] At start of 10[ms] D15068+150n
compensation time the phase compensation of the synchronous
constant cam axis. control
Pr.448 Synchronous control Set the parameter block No. for 1 to 64 1 D15069+150n
parameter block No. the synchronous control.
Pr.447 Output axis Set to smooth the output axis. 0 to 5000[ms] 0[ms] D15070+150n
smoothing time
constant

*1 Cam axis cycle units (Page 114 Cam axis cycle units)
*2 Output axis position units (Page 114 Output axis position units)

[Pr.438] Cam axis cycle unit setting (D15058+150n)

Set the command units for the cam axis input per cycle to be used for cam control.
These units are used for setting the cam axis length per cycle and the cam axis current value per cycle.
There is no influence on the control for the parameter for monitor display. (Page 114 Units for the output axis)

6 SYNCHRONOUS CONTROL
6.5 Output Axis Module 115
 [Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)
Set the length per cycle of the cam axis to generate the cam axis current value per cycle.
The unit settings are in the cam axis cycle units. (Page 114 Cam axis cycle units)
Set a value within the range from 1 to 2147483647.
The cam axis length per cycle can be changed during synchronous control by setting "1: Valid" in "[Pr. 442] Cam axis length
per cycle change setting (D15059+150n)". When the cam axis current value per cycle passes through the 0th point of cam
data, or is at the 0th point of cam data, the value of "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)" is
loaded.
For a cam using the coordinate data format, if the input value of the final coordinate is less than "[Pr.439] Cam axis length per
cycle (D15060+150n, D15061+150n)", it is controlled using a line segment calculated from the nearest two coordinates.
An example of a cam using coordinate data format, and changing "[Pr.439] Cam axis length per cycle (D15060+150n,
D15061+150n)" to a value that exceeds the input value of cam data final coordinate during synchronous control is shown
below.

■Coordinate data format

• Cam axis length per cycle : 4194304[pulse]
• Cam stroke amount :  4194304[pulse]
• Coordinate data
Point Input value Output value
1 0 0
2 2097152 4194304
3 4194304 0

[Pr.439]Cam axis length per cycle

4194304 8388608
(D15060+150n, D15061+150n)

8388608[pulse]
Cam axis current
value per cycle 4194304[pulse]

t
Cam axis current feed value Switching position Switching position *1 Switching position

*1 Because the coordinate where "input value = cam axis length per cycle" does not exist, the final coordinate is calculated from the line
segment between the nearest two coordinates.

[Pr.440] Cam No. (D15062+150n)

Set the cam No. for cam control.
Cam No.0 is preset in the Motion CPU, and it operates as a linear cam for 100% of its stroke ratio along the cam axis length
per cycle.
The cam No. can be changed during synchronous control.
The value set in "[Pr.440] Cam No. (D15062+150n)" is valid when the cam axis current value per cycle passes through the 0th
point of cam data, or is on the 0th point.

[Pr.441] Cam stroke amount (D15064+150n, D15065+150n)

Set the cam stroke amount corresponding to a 100% stroke ratio in output axis position units for cam control using the stroke
ratio data format. (Page 114 Output axis position units)
The cam stroke amount can be changed during synchronous control.
The value set in "[Pr.441] Cam stroke amount (D15064+150n, D15065+150n)" is valid when the cam axis current value per
cycle passes through the 0th point of cam data, or is on the 0th point.
The setting value is ignored for a cam using the coordinate data format.

6 SYNCHRONOUS CONTROL
116 6.5 Output Axis Module
[Pr.442] Cam axis length per cycle change setting (D15059+150n)
Set when changing "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)" during synchronous control.
Can change in cam No.0 (linear cam), stroke ratio data format, or coordinate data format. However, this cannot change
[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n) in stroke ratio data format, when using cam data with
starting point other than 0.
Setting value Description
0: Invalid Cannot change cam axis length per cycle during synchronous control.
1: Valid Loads the value of "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)" when the cam axis current
value per cycle passes through the 0th point of cam data, or is at the 0th point of cam data.

[Pr.444] Cam axis phase compensation advance time (D15066+150n, D15067+150n)

Set the time to advance or delay the phase of the cam axis current value per cycle in the cam control.
Setting value Description
1 to 2147483647[s] Advance the phase according to the setting time.
0[s] Do not execute phase compensation.
-2147483648 to -1[s] Delay the phase according to the setting time.

If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
6
In this case, set a longer time to affect the phase compensation amount in "[Pr.445] Cam axis phase compensation time
constant (D15068+150n)".

[Pr.445] Cam axis phase compensation time constant (D15068+150n)

Set the time constant to affect the phase compensation amount for the first order delay.
63 [%] of the phase compensation amount is reflected in the time constant setting.
[Pr.444] Cam axis phase [Pr.444] Cam axis phase
compensation advance time compensation advance time Current value per cycle after phase compensation
(D15066+150n, D15067+150n) (D15066+150n, D15067+150n)
Current value per cycle before phase compensation
Cam axis current value per
cycle

t
Cam axis current feed value

Input speed before phase

compensation
t

Input speed after phase

compensation
t
[Pr.444] Cam axis phase
Speed before phase
× compensation advance time
[Md.406] Cam axis phase compensation
(D15066+150n, D15067+150n)
compensation amount 63%
(D13610+30n, D13611+30n) 63%
t
[Pr.445] Cam axis phase compensation [Pr.445] Cam axis phase compensation
time constant (D15068+150n) time constant (D15068+150n)

6 SYNCHRONOUS CONTROL
6.5 Output Axis Module 117
 [Pr.448] Synchronous control parameter block No. (D15069+150n)
Set the parameter block number to be used by output axis of during synchronous control.
Used item for the parameter block is shown below.
: Valid, : Invalid
Item Valid/invalid of setting Remarks
value
Interpolation control unit 
*1
Speed limit value  The setting value is valid only at the synchronous control stop.
Acceleration time 
Deceleration time*1  The setting value is valid only at the synchronous control stop.
Rapid stop deceleration time*1 
S-curve ratio*2 
Torque limit value  The setting value is changed to the torque limit value of output axis
at the synchronous control start.
Deceleration processing on STOP input*1  The setting value is valid only at the synchronous control stop.
Allowable error range for circular interpolation 
Bias speed at start 
Acceleration/deceleration system*1*3  Only "0: Trapezoid/S-curve" is valid.
Advanced S-curve Acceleration section 1 ratio 
acceleration/
Acceleration section 2 ratio 
deceleration
Deceleration section 1 ratio 
Deceleration section 2 ratio 

*1 The output axis during synchronous control synchronizes with the input axis. Therefore, the output axis depends on the input axis
operation and synchronous control parameter, and the setting value is invalid during the synchronous control.
However, at synchronous control stop during output axis operation, the setting value is valid since the stop is processed after the
synchronous control completion, and the output axis decelerates to stop with the following slope of deceleration.
Slope of deceleration = Speed limit value  Deceleration time (Rapid stop deceleration time)
*2 The setting of S-curve ratio is invalid. If a value other than 0% is set to the S-curve ratio, the stop processing is performed with
trapezoidal acceleration/deceleration (S-curve ratio=0[%]).
*3 When "1: Adv. S-curve" is selected, the setting is invalid, and the stop processing is performed with trapezoidal acceleration/
deceleration (S-curve ratio=0[%]).

The actual deceleration time is longer than the set deceleration time if the output axis speed is larger than the
speed limit value.
• "Output axis speed>Speed limit value"
Deceleration stop Rapid stop

Output axis speed Deceleration stop cause Output axis speed Rapid stop cause

Speed limit value Speed limit value

Stop deceleration time Rapid stop deceleration

Real deceleration of parameter block Real deceleration time of parameter block
time time

6 SYNCHRONOUS CONTROL
118 6.5 Output Axis Module
[Pr.447] Output axis smoothing time constant (D15070+150n)
Set the averaging time to execute a smoothing process for the travel value of the output axis after cam data conversion.
The smoothing process can moderate sudden speed fluctuation for cams using the coordinate data format, etc.
The input response is delayed depending on the time corresponding to the setting by smoothing process setting.

[Md.407] Cam axis current

value per cycle
(D13612+30n, D13613+30n) t
[Md.409] Cam axis current feed value
(D13616+30n, D13617+30n)
[Md.20] Feed current value [Md.20] Feed current value
(D0+20n, D1+20n) (D0+20n, D1+20n)
t

Speed before smoothing

[Md.28] Command speed Speed after smoothing
(#8004+20n, #8005+20n)
t

[Pr.447] Output axis smoothing

time constant (D15070+30n)

6 SYNCHRONOUS CONTROL
6.5 Output Axis Module 119
 6.6 Synchronous Control Change Function
Overview of synchronous control change function
This function can be used to change the cam reference position, the cam axis current value per cycle and the current value
per cycle after the main/auxiliary shaft gear during the synchronous control.
The following 5 methods exist for the synchronous control change function. (Page 121 [Cd.407] Synchronous control
change command (D15130+150n))
Synchronous control change command Application Output axis operation
Cam reference position movement Adjust the cam reference position by travel value. Operated
Change cam axis current value per cycle Change the cam axis current value per cycle. None
Change current value per cycle after main shaft gear Change the current value per cycle after main shaft gear. None
Change current value per cycle after auxiliary shaft gear Change the current value per cycle after auxiliary shaft gear. None
Cam axis current value per cycle movement Adjust the phase of the cam axis by travel value. Operated

Synchronous control change control data (Bit device)

Control data
Symbol Setting item Setting details Setting value Refresh Fetch Default Device No.
cycle cycle value
Rq.406 Control change Set the control change command OFF: Control change not  Operation OFF M11688+10n
request command request command. requested cycle
ON: Control change
requested

■[Rq.406] Control change request command (M11688+10n)

Set ON to initiate "[Cd.407] Synchronous control change command (D15130+150n)". The "[St.426] Control change complete
(M10566+10n)" turns ON at the after completion of the synchronous control change. This signal turns OFF at the
synchronous control start.

Monitor data
Symbol Setting item Setting details Setting value Refresh Fetch Default Device No.
cycle cycle value
St.426 Control change The complete signal of control OFF: Control change Operation   M10566+10n
complete change request command incomplete cycle
processing is stored ON: Control change
complete

■[St.426] Control change complete (M10566+10n)

This signal turns ON with the completion of control change.
If the control change processing is stopped midway, the signal remains to be OFF.

6 SYNCHRONOUS CONTROL
120 6.6 Synchronous Control Change Function
Synchronous control change control data (Word device)
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Cd.407 Synchronous control Set the synchronous control change 0: Cam reference position At 0 D15130+150n
change command command. movement requesting
1: Change cam axis current synchronous
value per cycle control
2: Change current value per change
cycle after main shaft gear
3: Change current value per
cycle after auxiliary shaft gear
4: Cam axis current value per
cycle movement
Cd.408 Synchronous control Set the change value for synchronous -2147483648 to 2147483647 0 D15132+150n
change value control change processing. (Refer to the detailed explanation D15133+150n
on the next page for units.)
Cd.409 Synchronous control Set the reflection time for synchronous 0 to 65535[ms] 0[ms] D15131+150n
reflection time control change processing.

[Cd.407] Synchronous control change command (D15130+150n)

Set the synchronous control change command.
6
Setting value Description Reference
0 Cam reference position movement Page 121 Cam reference position movement
1 Change cam axis current value per cycle Page 122 Change cam axis current value per cycle
2 Change current value per cycle after main shaft gear Page 122 Change current value per cycle after main shaft gear
3 Change current value per cycle after auxiliary shaft gear Page 122 Change current value per cycle after auxiliary shaft gear
4 Cam axis current value per cycle movement Page 122 Cam axis current value per cycle movement

■Cam reference position movement

This command is executed to move the cam reference position through adding the setting travel value of "[Cd.408]
Synchronous control change value (D15132+150n, D15133+150n)". The travel value to be added is averaged in "[Cd.409]
Synchronous control reflection time (D15131+150n)" for its output.
Set a long reflection time when a large travel value is used since the cam axis current feed value moves with the travel value.

[Md.407] Cam axis current value per cycle

(D13612+30n, D13613+30n)
t
[Cd.408] Synchronous control change value
(D15132+150n, D15133+150n)
[Md.409] Cam axis current feed value
(D13616+30n, D13617+30n)
(Current feed value) t
[Cd.409] Synchronous control
[Md.408] Cam reference position reflection time (D15131+150n)
(D13614+30n, D13615+30n)
ON
[Rq.406] Control change request command
(M11688+10n) OFF
ON
[St.426] Control change complete
(M10566+10n) OFF

[Cd.407] Synchronous control change

0: Cam reference position movement
command (D15130+150n)

When "[Rq.406] Control change request command (M11688+10n)" is reset to OFF while executing the cam reference position
movement command, operation is stopped midway. If the cam reference position movement command is executed again, the
remainder travel value is not reflected, and the operation starts with "[Cd.408] Synchronous control change value
(D15132+150n,D15133+150n)" to be used again.
If synchronous control is stopped while the cam reference position movement command is being executed, operation also
stops midway. If synchronous control is restarted, the remainder travel value is not reflected.

6 SYNCHRONOUS CONTROL
6.6 Synchronous Control Change Function 121
 ■Change cam axis current value per cycle
The cam axis current value per cycle is changed to "[Cd.408] Synchronous control change value (D15132+20n,
D15133+150n)". The cam reference position will be also changed to correspond to the changed cam axis current value per
cycle.
This operation is completed within one operation cycle.
[Cd.408] Synchronous control change value
(D15132+150n, D15133+150n)

[Md.407] Cam axis current value per cycle

(D13612+30n, D13613+30n)
t

[Md.409] Cam axis current feed value

(D13616+30n, D13617+30n)
(Current feed value) t

[Md.408] Cam reference position (before being changed)

(D13614+30n, D13615+30n) (After being changed)
Changed to new reference position
ON
[Rq.406] Control change request command
(M11688+10n) OFF
ON
[St.426] Control change complete
(M10566+10n) OFF

[Cd.407] Synchronous control change 1: Change cam axis current value

command (D15130+150n) per cycle

■Change current value per cycle after main shaft gear

The current value per cycle after main shaft gear is changed to the value set in "[Cd.408] Synchronous control change value
(D15132+150n, D15133+150n)". This operation is completed within one operation cycle.
Clutch control is not executed if the current value per cycle after main shaft gear (the value before being changed and after
being changed) has already passed through the ON/OFF address in address mode.

■Change current value per cycle after auxiliary shaft gear

The current value per cycle after auxiliary shaft gear is changed to the value set in "[Cd.408] Synchronous control change
value (D15132+10n, D15133+150n)".
This operation is completed within one operation cycle.
Clutch control is not executed if the current value per cycle after the auxiliary shaft gear (the value before being changed and
after being changed) has already passed through the ON/OFF address in address mode.

■Cam axis current value per cycle movement

This command is executed to move the cam axis current value per cycle through adding the setting travel value of "[Cd.408]
Synchronous control change value (D15132+20n, D1533+150n)".
The travel value to be added is averaged in "[Cd.409] Synchronous control reflection time (D15131+150n)" for its output.
Set a long reflection time when a large travel value is used since the cam axis current feed value moves with the travel value.
[Cd.408] Synchronous control change value
(D15132+150n, D15133+150n)

[Md.407] Cam axis current value per cycle

(D13612+30n, D13613+30n)
t

[Md.409] Cam axis current feed value

(D13616+30n, D13617+30n)
(Current feed value)
t
[Cd.409] Synchronous control
[Md.408] Cam reference position reflection time (D15131+150n)
(D13614+30n, D13615+30n)
ON
[Rq.406] Control change request command
(M11688+10n) OFF
ON
[St.426] Control change complete
(M10566+10n) OFF

[Cd.407] Synchronous control change

4: Cam axis current value per cycle
command (D15130+150n)
movement

6 SYNCHRONOUS CONTROL
122 6.6 Synchronous Control Change Function
When "[Rq.406] Control change request command (M11688+10n)" is reset to OFF while executing the cam axis current value
per cycle movement, operation is stopped midway. If the cam axis current value per cycle movement is executed again, the
remainder travel value is not reflected, and the operation starts with "[Cd.408] Synchronous control change value
(D15132+150n, D15133+150n)" to be used again.
If synchronous control is stopped while the cam axis current value per cycle movement is being executed, operation also
stops midway. If synchronous control is restarted, the remainder travel value is not reflected.

[Cd.408] Synchronous control change value (D15132+150n, D15133+150n)

Set the change value for synchronous control change processing as follows.
[Cd.407] Synchronous control [Cd.408] Synchronous control change value (D15132+150n, D15133+150n)
change command (D15130+150n) Setting range Unit Setting details
0: Cam reference position movement -2147483648 to 2147483647 Output axis position unit • Set the travel value of the cam reference position.
Cam axis cycle unit • It moves within the range from -2147483648 to
2147483647.
1: Change cam axis current value per • Set the change current value per cycle.
cycle • The setting value is converted within the range
from "0 to (Cam axis length per cycle-1)".
2: Change current value per cycle after
main shaft gear
3: Change current value per cycle after
auxiliary shaft gear 6
4: Cam axis current value per cycle • Set the travel value of the cam axis current value
movement per cycle.
• It moves within the range from -2147483648 to
2147483647.

[Cd.409] Synchronous control reflection time (D15131+150n)

Set the reflection time for synchronous control change processing as follows.
[Cd.407] Synchronous control change Setting details for “[Cd.409] Synchronous control reflection time
command (D15130+150n) (D15131+150n)”
0: Cam reference position movement The time to reflect the travel value to the cam reference position.
1: Change cam axis current value per cycle Setting not required.
2: Change current value per cycle after main shaft gear
3: Change current value per cycle after auxiliary shaft
gear
4: Cam axis current value per cycle movement The time to reflect the travel value to the cam axis current value per cycle.

6 SYNCHRONOUS CONTROL
6.6 Synchronous Control Change Function 123
 6.7 Synchronous Control Monitor Data
Synchronous control monitor data is updated only during synchronous control.
The monitor values ("[Md.400] Current value after composite main shaft gear (D13600+30n, D13601+30n)", "[Md.401]
Current value per cycle after main shaft gear (D13602+30n, D13603+30n)", "[Md.402] Current value per cycle after auxiliary
shaft gear (D13604+30n, D13605+30n)", "[Md.407] Cam axis current value per cycle (D13612+30n, D13613+30n)", "[Md.408]
Cam reference position (D13614+30n, D13615+30n)", and "[Md.409] Cam axis current feed value (D13616+30n,
D13617+30n)") from the last synchronous control session are restored the next time the Multiple CPU system power supply
turns ON. Restarting operation status from the last synchronous control session is possible through returning to the last
position via positioning control. (Page 137 Synchronous Control Initial Position)
"The last synchronous control session" indicates status just before the last synchronous control session was stopped as
follows. These are listed with the last synchronization status.
• Just before "[Rq.380] Synchronous control start (M12000+n)" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the Multiple CPU system power supply turned OFF.

6 SYNCHRONOUS CONTROL
124 6.7 Synchronous Control Monitor Data
Synchronous Control Monitor Data (Word device)
Symbol Monitor item Storage details Monitor value Refresh cycle Device No.
Md.400 Current value after • The current value after combining the -2147483648 to 2147483647 Operation cycle D13600+30n
composite main main input and sub input values from the [Main input axis position units]*1 (During synchronous D13601+30n
shaft gear main shaft is stored. control only)
• Value is stored even after Multiple CPU
system power supply OFF.
Md.401 Current value per • The current value per cycle after the main 0 to (Cam axis length per cycle-1) D13602+30n
cycle after main shaft gear is stored. [Cam axis cycle units]*2 D13603+30n
shaft gear • One cycle is considered the cam axis
length per cycle.
• Value is stored even after Multiple CPU
system power supply OFF.
Md.402 Current value per • The current value per cycle after the 0 to (Cam axis length per cycle-1) D13604+30n
cycle after auxiliary auxiliary shaft gear is stored. [Cam axis cycle units]*2 D13605+30n
shaft gear • One cycle is considered the cam axis
length per cycle.
• Value is stored even after Multiple CPU
system power supply OFF.
Md.406 Cam axis phase The current phase compensation amount is -2147483648 to 2147483647 D13610+30n
[Cam axis cycle units]*2
compensation
amount
stored. D13611+30n
6
Md.407 Cam axis current • The current value per cycle is stored, 0 to (Cam axis length per cycle-1) D13612+30n
value per cycle which is calculated from the input travel [Cam axis cycle units]*2 D13613+30n
value to the cam axis. (The value after
phase compensation)
• Value is stored even after Multiple CPU
system power supply OFF.
Md.408 Cam reference • The current feed value as the cam -2147483648 to 2147483647 D13614+30n
position reference position is stored. [Output axis position units]*3 D13615+30n
• Value is stored even after system's power
supply OFF.
Md.409 Cam axis current • The current feed value while controlling -2147483648 to 2147483647 D13616+30n
feed value the cam axis is stored. [Output axis position units]*3 D13617+30n
• Value is stored even after system's power
supply OFF.
Md.410 Execute cam No. The executing cam No. is stored. 0 to 1024 D13618+30n
Md.411 Execute cam stroke The executing cam stroke amount is stored. -2147483648 to 2147483647 D13620+30n
amount [Output axis position units]*3 D13621+30n
Md.412 Execute cam axis The executing cam axis length per cycle is 1 to 2147483647 D13622+30n
length per cycle stored. [Cam axis cycle units]*2 D13623+30n
Md.422 Main shaft clutch The accumulative slippage of the main shaft -2147483648 to 2147483647 D13606+30n
slippage clutch smoothing with slippage method is [Main input axis position units]*1, D13607+30n
(accumulative) stored as a signed value. or [Cam axis cycle units]*2
Md.425 Auxiliary shaft The accumulative slippage on the auxiliary -2147483648 to 2147483647 D13608+30n
clutch slippage shaft clutch smoothing with slippage method [Main input axis position units]*4, D13609+30n
(accumulative) is stored as a signed value. or [Cam axis cycle units]*2

*1 Main input axis position units (Page 30 Servo input axis position units, Page 37 Command generation axis position units,
Page 51 Synchronous encoder axis position units)
*2 Cam axis cycle units (Page 114 Cam axis cycle units)
*3 Output axis position units (Page 114 Output axis position units)
*4 Auxiliary shaft position units (Page 30 Servo input axis position units, Page 37 Command generation axis position units,
Page 51 Synchronous encoder axis position units)

6 SYNCHRONOUS CONTROL
6.7 Synchronous Control Monitor Data 125
 [Md.400] Current value after composite main shaft gear (D13600+30n, D13601+30n)
The current value after combining the main input and the sub input values going into the composite main shaft gear is stored
as an accumulative value.
Units are in position units of the main input axis. The unit is pulse if the main input axis is invalid. (Page 30 Servo input
axis position units, Page 37 Command generation axis position units, Page 51 Synchronous encoder axis position
units)
The current value after composite main shaft gear will be changed when the following operations are executed in the main
input axis during synchronous control.
Operation of main Servo input axis Command Synchronous encoder axis
input axis (During Absolute Absolute generation Incremental Absolute Synchronous Multiple CPU
synchronous position position axis synchronous synchronous encoder via advanced
control start) detection detection encoder encoder device synchronous
system valid system invalid control*3
Home position return Change method (1)  
Current value change Change method (1) Change Change method (1)
method (1)
Speed control ()*1 Change method (1) Change 
method (1)
Fixed-pitch feed Change method (1) Change 
control method (1)
Speed/position Change method (1)  
switching control*2
Connection to servo Change method Change method  
amplifier (2) (1)
Connection to   Change method Change method (2) Change method
synchronous encoder (1) (1)

*1 When it starts by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)" or "[Rq.347] Feed current value
update request command (M10972+20n)".
*2 When it starts by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)".
*3 When setting as a slave CPU synchronous encoder axis type (master CPU servo input axis, master CPU command generation axis,
master CPU synchronous encoder axis) in a Multiple CPU advanced synchronous control configuration.

■Change method (1)

The new current value after composite main shaft gear is calculated based on the current value of the main input axis.

Current value after composite main shaft gear=Main input direction of composite main shaft gear (Input +/Input -/No input
(0))Main input axis current value

■Change method (2)

The travel value of the main input axis from the last synchronous control session is reflected to the current value after
composite main shaft gear.

Current value after composite main shaft gear=Current value after composite main shaft gear at the last synchronous control
session+Main input direction of composite main shaft gear (Input +/Input -/No input (0))Amount of change of travel value of
main input axis from the last synchronous control session

[Md.401] Current value per cycle after main shaft gear (D13602+30n, D13603+30n)
The input travel value after the main shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The unit is
in cam axis cycle units. (Page 114 Cam axis cycle units)
The value is restored according to "[Pr.460] Setting method of current value per cycle after main shaft gear (D15100+150n)"
when starting synchronous control. (Page 139 Current value per cycle after main shaft gear, current value per cycle after
auxiliary shaft gear when starting synchronous control)

6 SYNCHRONOUS CONTROL
126 6.7 Synchronous Control Monitor Data
[Md.402] Current value per cycle after auxiliary shaft gear (D13604+30n, D13605+30n)
The input travel value after the auxiliary shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The unit
is in cam axis cycle units. (Page 114 Cam axis cycle units)
The value is restored according to "[Pr.461] Setting method of current value per cycle after auxiliary shaft gear
(D15101+150n)" when starting synchronous control. (Page 139 Current value per cycle after main shaft gear, current
value per cycle after auxiliary shaft gear when starting synchronous control)

[Md.406] Cam axis phase compensation amount (D13610+30n, D13611+30n)

The phase compensation amount for the cam axis is stored with cam axis cycle units. (Page 114 Cam axis cycle units)
The phase compensation amount after smoothing processing with "[Pr.445] Cam axis phase compensation time constant
(D15068+150n)" is stored.

[Md.407] Cam axis current value per cycle (D13612+30n, D13613+30n)

The cam axis current value per cycle is stored within the range from 0 to (Cam axis length per cycle-1).
The current value after cam axis phase compensation processing can be monitored. The unit is in cam axis cycle units.
(Page 114 Cam axis cycle units)
The value is restored according to "[Pr.462] Cam axis position restoration object (D15102+150n)" when starting synchronous 6
control. (Page 140 Cam axis position at synchronous control start)

[Md.408] Cam reference position (D13614+30n, D13615+30n)

The current feed value is stored as the cam reference position. The unit is in output axis position units. When the unit is in
[degree], a range from "0 to 35999999" is used. (Page 114 Output axis position units)
The value is restored according to "[Pr.462] Cam axis position restoration object (D15102+150n)" when starting synchronous
control. (Page 140 Cam axis position at synchronous control start)

[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)

The current feed value of the cam axis is stored. The value is the same as "[Md.20] Feed current value (D0+20n, D1+20n)"
during synchronous control.

[Md.410] Execute cam No. (D13618+30n)

The executing cam No. is stored.
When "[Pr.440] Cam No. (D15062+150n)" is changed during synchronous control, this is updated when the controlling cam
No. switches.

[Md.411] Execute cam stroke amount (D13620+30n, D13621+30n)

The executing cam stroke amount is stored.
When "[Pr.441] Cam stroke amount (D15064+150n, D15065+150n)" is changed during synchronous control, this is updated
when the controlling cam stroke amount switches.

[Md.412] Execute cam axis length per cycle (D13622+30n, D13623+30n)

The executing cam axis length per cycle is stored.
When "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)" is changed during synchronous control, this is
updated when the controlling cam axis length per cycle switches.

[Md.422] Main shaft clutch slippage (accumulative) (D13606+30n, D13607+30n)

The accumulative slippage amount with the slippage method is stored as a signed value.
The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during clutch ON.
The absolute value of the accumulative slippage decreases to reach 0 during clutch OFF.
Monitoring of the accumulative slippage is used to check the smoothing progress with the slippage method.

6 SYNCHRONOUS CONTROL
6.7 Synchronous Control Monitor Data 127
 [Md.425] Auxiliary shaft clutch slippage (accumulative) (D13608+30n, D13609+30n)
The accumulative slippage amount with the slippage method is stored as a signed value.
The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during clutch ON.
The absolute value of the accumulative slippage decreases to reach 0 during clutch OFF.
Monitoring of the accumulative slippage is used to check the smoothing progress with the slippage method.

Synchronous Control Monitor Data (Bit device)

Symbol Monitor item Storage details Monitor value Refresh cycle Device No.
St.420 Main shaft clutch ON/ The ON/OFF status of main shaft clutch is OFF: Clutch OFF status Operation cycle M10560+10n
OFF status stored. ON: Clutch ON status (During synchronous
control only)
St.421 Main shaft clutch The smoothing status of main shaft clutch OFF: Not on clutch smoothing M10561+10n
smoothing status is stored. ON: On clutch smoothing
St.423 Auxiliary shaft clutch The ON/OFF status of the auxiliary shaft OFF: Clutch OFF status M10562+10n
ON/OFF status clutch is stored. ON: Clutch ON status
St.424 Auxiliary shaft clutch The smoothing status of the auxiliary shaft OFF: Not on clutch smoothing M10563+10n
smoothing status clutch is stored. ON: On clutch smoothing

[St.420] Main shaft clutch ON/OFF status (M10560+10n)

The clutch ON/OFF status is stored.

[St.421] Main shaft clutch smoothing status (M10561+10n)

The smoothing status of the main shaft clutch is stored. The status is updated by the clutch smoothing method as follows.
Method Description
Time constant method The status is always "1:On clutch smoothing" during the clutch ON status. The status will be "0: Not on clutch smoothing"
when the clutch is turned OFF and smoothing is completed.
Slippage method The status is "1:On clutch smoothing " till the clutch accumulative slippage amount reaches the slippage at clutch ON
when the clutch is turned ON. The status will change to "0: Not on clutch smoothing " when the clutch accumulative
slippage amount reaches the slippage at clutch ON. The status is "1:On clutch smoothing " till the clutch accumulative
slippage amount reaches 0 when the clutch is turned OFF. The status will change to "0: Not on clutch smoothing " when
the clutch accumulative slippage amount reaches 0.

[St.423] Auxiliary shaft clutch ON/OFF status (M10562+10n)

The clutch ON/OFF status is stored.

[St.424] Auxiliary shaft clutch smoothing status (M10563+10n)

The smoothing status of the auxiliary shaft clutch is stored. The status is updated by the clutch smoothing method as follows.
Method Description
Time constant method The status is always "1:On clutch smoothing" during the clutch ON status. The status will be "0: Not on clutch smoothing"
when the clutch is turned OFF and smoothing is completed.
Slippage method The status is "1:On clutch smoothing " till the clutch accumulative slippage amount reaches the slippage at clutch ON
when the clutch is turned ON. The status will change to "0: Not on clutch smoothing " when the clutch accumulative
slippage amount reaches the slippage at clutch ON. The status is "1:On clutch smoothing " till the clutch accumulative
slippage amount reaches 0 when the clutch is turned OFF. The status will change to "0: Not on clutch smoothing " when
the clutch accumulative slippage amount reaches 0.

6 SYNCHRONOUS CONTROL
128 6.7 Synchronous Control Monitor Data
7 AUXILIARY AND APPLIED FUNCTIONS

7.1 Phase Compensation Function

In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect
to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case
so that the phase does not deviate.
Phase compensation can be set for the input and the output axis. It is possible to compensate using the delay time peculiar to
the system based on the servo input axis or the synchronous encoder axis on the input axis side. It is also possible to use a
compensation delay time equivalent to the position deviation for each servo amplifier on the output axis side.

Phase compensation on delay time of the input axis

Set delay time peculiar to the system in the phase compensation advance time of the input axis ("[Pr.302] Servo input axis
phase compensation advance time (D14600+2n, D14601+2n)", "[Pr.326] Synchronous encoder axis phase compensation
advance time (D14820+10n, D14821+10n)"). The command generation axis does not have the phase compensation function
since the delay time specific to the system is 0.
The delay time peculiar to the system is shown below.

■Delay time peculiar to the system for a servo input axis

Operation cycle [ms] [Pr.300] Servo input axis type 7
Current feed value Real current value Command to servo Feedback value
amplifier
0.222 0[s] 944[s] 0[s] 944[s]
0.444 0[s] 1833[s] 0[s] 1833[s]
0.888 0[s] 3611[s] 0[s] 3611[s]
1.777 0[s] 5388[s] 0[s] 5388[s]
3.555 0[s] 8945[s] 0[s] 8945[s]
7.111 0[s] 19612[s] 0[s] 19612[s]

■Delay time peculiar to the system for a synchronous encoder axis

Operation cycle [ms] [Pr.320] Synchronous encoder axis type
Incremental synchronous Absolute synchronous encoder Synchronous encoder via device
encoder
0.222 614[s] 968[s] 614+Input value refresh timing[s]
0.444 1276[s] 1871[s] 1276+Input value refresh timing[s]
0.888 2600[s] 3638[s] 2600+Input value refresh timing[s]
1.777 4396[s] 5422[s] 4396+Input value refresh timing[s]
3.555 7933[s] 8980[s] 7933+Input value refresh timing[s]
7.111 18616[s] 19648[s] 18616+Input value refresh timing[s]

Phase compensation of delay time of the output axis

Set delay time equivalent to the position deviation on the servo amplifier in "[Pr.444] Cam axis phase compensation advance
time (D15066+150n, D15067+150n)" for the output axis. The delay time equivalent to position deviation of the servo amplifier
is calculated using the following formula.
1000000
Delay time [μs] =
Servo parameter "Model loop gain (PB07)"

When the feed forward gain is set, the delay time is set to a smaller value than the value listed above.

7 AUXILIARY AND APPLIED FUNCTIONS

7.1 Phase Compensation Function 129
 The model loop gain will change when the gain adjustment method is auto tuning mode 1 or 2. The model loop gain must not
be changed on the axis executing phase compensation through preventing change with the manual mode or interpolation
mode setting.

Setting example
When axis 1 is synchronized with an incremental synchronous encoder axis, the phase compensation advance time is set as
follows.
(If the operation cycle is as 1.777[ms] and model loop gain of axis 1 is as 80.)
Setting item Setting value
[Pr.326] Synchronous encoder axis phase compensation advance time 4396[s]
(D14820+10n, D14821+10n) (Reference: Delay time peculiar to system for a synchronous encoder axis)
[Pr.444] Cam axis phase compensation advance time 1000000
(D15066+150n, D15067+150n) = 12500[μs]
80

When overshoot or undershoot occurs during acceleration/deceleration, set a longer time for the phase compensation time
constant.

7 AUXILIARY AND APPLIED FUNCTIONS

130 7.1 Phase Compensation Function
7.2 Relationship between the Output Axis and Each
Function
The relationship between the output axis of synchronous control and each function is shown below.
: Valid, : Invalid
Function Output Details
axis
Fixed parameter Unit setting  The same control as other methods.
Number of pulses per rotation (AP) 
Travel value per rotation (AL) 
Backlash compensation amount 
Upper stroke limit  The axis stops immediately when exceeding the software stroke limit range.
To disable the software stroke limit, set the setting value so that "Upper limit
Lower stroke limit 
value = Lower limit value".
Command in-position range  Setting is ignored.
Speed control 10  multiplier setting  Reflected on monitor data.
for degree axis
Torque limit function  The torque limit value can be changed by torque limit value change request
instruction (M(P).CHGT/D(P).CHGT, CHGT).
Hardware stroke limit  Controlled the same as positioning control.
Forced stop  The same control as other methods.
Control change Current value change  Ignored. 7
Speed change 
Target position change 
Absolute position system  The same control as other methods.
M-code output function  M-code is not able to output.
Operation setting for incompletion of home position return  Controlled the same as positioning control.
For a system that needs alignment, start synchronous control after
establishing a home position.
Servo ON/OFF request  Servo OFF request is ignored during synchronous control similar to
positioning control.

Functions for an input axis in synchronous control conform to the specification of each control (Home position
return control, Positioning control, Manual control, Speed-torque control).

7 AUXILIARY AND APPLIED FUNCTIONS

7.2 Relationship between the Output Axis and Each Function 131
 7.3 Speed-Torque Control
Control mode can be switched for output axis during synchronous control.
The control is performed with "speed-torque control data".
Data that is needed to be set with speed-torque control during synchronous control is shown in the table below.
Setting item Setting necessity
During control other than During synchronous control
synchronous control
Speed Torque Continuous Speed Torque Continuous
control control operation to control control operation to
torque torque
control control
Control mode switching request device      
Control mode setting device      
Speed limit value at speed-torque control      
Torque limit value at speed-torque control      
Speed command device      
Command speed acceleration time      
Command speed deceleration time      
Torque command device      
Command torque time constant (positive direction)      
Command torque time constant (negative direction)      
Speed initial value selection at control mode switching      
Torque initial value selection at control mode switching      
Invalid selection during zero speed at control mode switching      

*1 Refer to the following for details of speed-torque control data.

MELSEC iQ-R Motion controller Programming Manual (Positioning Control)

Speed-torque control in output axis

• The speed-torque control can be executed for the output axis of the cam No.0 (linear cam) during synchronous control.
When the control mode switching is executed for the output axis of cam other than cam No.0 or the output axis where
synchronous control change function is being performed, a warning (error code: 0C16H) will occur, and the control mode is
not switched. When the output axis where the speed-torque control is performed is set to other than cam No.0, a warning
(error code: 0C17H) will occur, and it is not switched to the set cam No. When the mode is switched to position control, it is
switched to the cam No. set at passing through the 0th point of cam data. When the motor is operating at control mode
switching request, a warning (error code: 09E7H) will occur, and the control mode is not switched. The mode can be
switched to continuous operation to torque control mode even when the motor is operating.

7 AUXILIARY AND APPLIED FUNCTIONS

132 7.3 Speed-Torque Control
• Turn OFF to ON the control mode switching request device after setting the control mode (10: Speed control mode, 20:
Torque control mode, 30: Continuous operation to torque control mode) in the control mode setting device to switch the
control mode. The following shows the switching condition of each control mode.
• Speed control/Torque control

Position control mode

(1) (2) (4) (3)

(5)
Speed control mode Torque control mode
(6)

Switching operation Switching condition

(1) Position control mode  Speed control mode During synchronous control*1, and during motor stop*2
(2) Speed control mode  Position control mode
(3) Position control mode  Torque control mode
(4) Torque control mode  Position control mode
(5) Speed control mode  Torque control mode During synchronous control*1
(6) Torque control mode  Speed control mode

*1 The "[St.380] Synchronous control (M10880+n)" is ON. During the synchronous control mode switching analysis or during the
synchronous control stop due to "[Rq.380] Synchronous control start (M12000+n)" ON to OFF or stop factor occurrence, the control
mode switching request is ignored.
*2 ZERO speed (b3) of "[Md.1022] Servo status 2 (#8011+20n)" is ON. The control mode can be changed without checking the switching
condition of "during motor stop" in Motion CPU by setting "1: Condition during zero speed at control mode switching: invalid" in "Invalid
selection during zero speed at control mode switching". Set "1: Condition during zero speed at control mode switching: invalid" to switch 7
the control mode without waiting for stop of servo motor.

• Continuous operation to torque control

Position control mode Speed control mode Torque control mode

(1) (2) (3) (4) (5) (6)

Continuous operation Continuous operation Continuous operation

to torque control mode to torque control mode to torque control mode

Switching operation Switching condition

(1) Position control mode  Continuous operation to torque control mode During synchronous control*1
(2) Continuous operation to torque control mode  Position control mode During synchronous control*1, and during motor stop*2
(3) Speed control mode  Continuous operation to torque control mode During synchronous control*1
(4) Continuous operation to torque control mode  Speed control mode
(5) Torque control mode  Continuous operation to torque control mode Switching not possible
(6) Continuous operation to torque control mode  Torque control mode

*1 The "[St.380] Synchronous control (M10880+n)" is ON. During the synchronous control mode switching analysis or during the
synchronous control stop due to "[Rq.380] Synchronous control start (M12000+n)" ON to OFF or stop factor occurrence, the control
mode switching request is ignored.
*2 ZERO speed (b3) of "[Md.1022] Servo status 2 (#8011+20n)" is ON. The control mode can be changed without checking the switching
condition of "during motor stop" in Motion CPU by setting "1: Condition during zero speed at control mode switching: invalid" in "Invalid
selection during zero speed at control mode switching". Set "1: Condition during zero speed at control mode switching: invalid" to switch
the control mode without waiting for stop of servo motor.

• The command speed at speed control is the speed command to the output axis. The command speed at torque/continuous
operation to torque control is the speed limit value.

7 AUXILIARY AND APPLIED FUNCTIONS

7.3 Speed-Torque Control 133
 • Command torque at torque control and continuous operation to torque control are set in the "torque command device" of
"speed-torque control data". The command torque is limited with "Torque limit value at speed-torque control". If the torque
exceeds torque limit value is set, a warning (error code: 09E4H) will occur, the operation is controlled with torque limit value
at speed-torque control. Torque limit value to servo amplifier can be changed within the range of "Torque limit value at
speed-torque control" by torque limit value change request (CHGT, M(P).CHGT/D(P).CHGT). If the change outside the
range of "Torque limit value at speed-torque control" is requested by torque limit value change request torque limit value
individual change request, a warning (error code: 0A5EH) will occur, and the torque limit value is not changed.
• Values of "[Md.407] Cam axis current value per cycle (D13612+30n, D13613+30n)", "[Md.408] Cam reference position
(D13614+30n, D13615+30n)", and "[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)" during speed-
torque control are based on the command from the input axis. It is not based on the actual output axis position. "[Md.407]
Cam axis current value per cycle (D13612+30n, D13613+30n)", "[Md.408] Cam reference position (D13614+30n,
D13615+30n)", and "[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)" are restored based on the actual
output axis position at the position control mode switching.
• Phase compensation is valid during speed-torque control.
• Switching to speed control mode, torque control mode, or continuous operation to torque control mode during synchronous
control is not reflected on the scroll monitor.
• During synchronous control start analysis or during the synchronous control stop due to "[Rq.380] Synchronous control
start (M12000+n)" ON to OFF or stop factor occurrence, the control mode switching request is ignored. Take "[Rq.380]
Synchronous control start (M12000+n)" in an interlock.
• The synchronous control change function cannot be used during speed-torque control.

Precautions at control mode switching

When using continuous operation to torque control mode, use the servo amplifiers that are compatible with continuous
operation to torque control. If servo amplifiers that are not compatible with continuous operation to torque control are used, a
minor error (error code: 19E7H) will occur at request of switching to continuous operation to torque control mode.

7 AUXILIARY AND APPLIED FUNCTIONS

134 7.3 Speed-Torque Control
Stop cause
■Stop cause during speed control mode
The operation for stop cause during speed control mode is shown below.
The synchronous control ends by the stop cause occurrence.
Item Operation during speed control mode
The "[Rq.380] Synchronous control start (M12000+n)" turned OFF.*1 The motor decelerates to speed "0" by setting value of parameter block set in "[Pr.448]
Synchronous control parameter block No. (D15069+150n)"*4. The mode is switched to
The "[Rq.1140] Stop command (M3200+20n)" turned ON.*1
position control mode when "Zero speed (b3)" of "[Md.1022] Servo status 2
The "[Rq.1141] Rapid stop command (M3201+20n)" turned ON.*2 (#8011+20n)" turns ON, and the operation stops.
The external stop input turned ON.*3
The "[Rq.1123] All axis servo ON command (M2042)" turned OFF. The servo OFF is not executed during synchronous control. (The synchronous control
does not end.) When the synchronous control is ended and the mode is switched to
The "[Rq.1155] Servo OFF command (M3215+20n)" turned ON.
position control mode, the command status at the time becomes valid.
The current value reached to software stroke limit. A minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur, and the
motor decelerates to speed "0" by setting value of parameter block set in "[Pr.448]
The position of motor reached to hardware stroke limit.*3
Synchronous control parameter block No. (D15069+150n)"*4. The mode is switched to
The "[Rq.1120] PLC ready flag (M2000)" turned OFF. position control when "Zero speed (b3)" of "[Md.1022] Servo status 2 (#8011+20n)"
turns ON, and the operation stops.
The main shaft gear/auxiliary shaft gear/speed change gear 1/speed The motor decelerates to speed "0" by setting value of parameter block set in "[Pr.448]
change gear 2 operation overflow error occurred.*3 Synchronous control parameter block No. (D15069+150n)"*4. The mode is switched to
position control when "Zero speed (b3)" of "[Md.1022] Servo status 2 (#8011+20n)"
turns ON, and the operation stops.
The forced stop input to Motion CPU. The mode is switched to position control mode when the servo OFF (The "[St.1075]
The forced stop input to servo amplifier. Servo ready (M2415+20n)" turns OFF) is executed. (While the servo amplifier is servo
OFF, even if the mode is switched to position control mode, the servomotor occurs to
7
The servo error occurred. the free run. (The operation stops with dynamic brake.))
The servo amplifier's power supply turned OFF. The motor occurs to the free run. (The operation stops with dynamic brake.)
(The mode is to position control mode at the servo amplifier's power supply ON again.)

*1 The motor stops based on the deceleration time.

*2 The motor stops based on the rapid stop deceleration time.
*3 The motor stops based on the setting of "Deceleration processing on stop input" of parameter block.
*4 The setting of "S-curve ratio".

■Stop cause during torque control mode

The operation for stop cause during torque control mode is shown below.
The synchronous control ends by the stop cause occurrence.
Item Operation during torque control mode
The "[Rq.380] Synchronous control start (M12000+n)" turned OFF. The mode is switched to position control mode when the speed limit command value is
set to "0" and "Zero speed (b3)" of "[Md.1022] Servo status 2 (#8011+20n)" turns ON,
The "[Rq.1140] Stop command (M3200+20n)" turned ON.
and the operation stops immediately.
The "[Rq.1141] Rapid stop command (M3201+20n)" turned ON. (Deceleration processing is not executed.) The value of command torque is not
The external stop input turned ON. changed. It might take time to reach at the speed "0" depending on the current torque
command value.
The "[Rq.1123] All axis servo ON command (M2042)" turned OFF. The servo OFF is not executed during synchronous control. (The synchronous control
does not end.) When the synchronous control is ended valid when and the mode is
The "[Rq.1155] Servo OFF command (M3215+20n)" turned ON.
switched to position control mode, the command status at the time becomes valid.
The current value reached to software stroke limit. The minor error (error code: 1900H, 1905H, 1907H ,1993H, 1995H) will occur. The
mode is switched to position control mode at current position, and the operation
The position of motor reached to hardware stroke limit.
immediately stops. (Deceleration processing is not executed.) When the operation
The "[Rq.1120] PLC ready flag (M2000)" turned OFF. immediately stops, the motor will start hunting depending on the motor
speed.Therefore, be sure not to reach to limit in high speed or do not turn OFF the PLC
READY.
The main shaft gear/auxiliary shaft gear/speed change gear 1/speed The mode is switched to position control mode at current position, and the operation
change gear 2 operation overflow error occurred. immediately stops. (Deceleration processing is not executed.)
When the operation immediately stops, the motor will start hunting depending on the
motor speed.
The forced stop input to Motion CPU. The mode is switched to position control mode when the servo OFF (The "[St.1075]
Servo ready (M2415+20n)" turns OFF) is executed. (While the servo amplifier is servo
The forced stop input to servo amplifier.
OFF, even if the mode is switched to position control mode, the servomotor occurs to
The servo error occurred. the free run. (The operation stops with dynamic brake.))
The servo amplifier's power supply turned OFF. The motor occurs to the free run. (The operation stops with dynamic brake.)
(The mode is to position control mode at the servo amplifier's power supply ON again.)

7 AUXILIARY AND APPLIED FUNCTIONS

7.3 Speed-Torque Control 135
 ■Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control mode is shown below.
The synchronous control ends by the stop cause occurrence.
Item Operation during continuous operation to torque control mode
The "[Rq.380] Synchronous control start (M12000+n)" turned OFF. The mode is switched to position control mode when the speed limit command value is
set to "0" and "Zero speed (b3)" of "[Md.1022] Servo status 2 (#8011+20n)" turns ON,
The "[Rq.1140] Stop command (M3200+20n)" turned ON.
and the operation stops immediately.
The "[Rq.1141] Rapid stop command (M3201+20n)" turned ON. (Deceleration processing is not executed.) The value of command torque is not
The external stop input turned ON. changed. It might take time to reach at the speed "0" depending on the current torque
command value.
The "[Rq.1123] All axis servo ON command (M2042)" turned OFF. The servo OFF is not executed during synchronous control. (The synchronous control
does not end.) When the synchronous control is ended and the mode is switched to
The "[Rq.1155] Servo OFF command (M3215+20n)" turned ON.
position control mode, the command status at the time becomes valid.
The current value reached to software stroke limit. The minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur. The
The position of motor reached to hardware stroke limit. mode is switched to position control mode at current position, and the operation
immediately stops. (Deceleration processing is not executed.)When the operation
The "[Rq.1120] PLC ready flag (M2000)" turned OFF. immediately stops, the motor will start hunting depending on the motor
speed.Therefore, be sure not to reach to limit in high speed or do not turn OFF the PLC
READY.
The main shaft gear/auxiliary shaft gear/speed change gear 1/speed The mode is switched to position control mode at current position, and the operation
change gear 2 operation overflow error occurred. immediately stops. (Deceleration processing is not executed.)
When the operation immediately stops, the motor will start hunting depending on the
motor speed.
The forced stop input to Motion CPU. The mode is switched to position control mode when the servo OFF (The "[St.1075]
Servo ready signal (M2415+20n)" turns OFF) is executed.
The forced stop input to servo amplifier.
(While the servo amplifier is servo OFF, even if the mode is switched to position control
The servo error occurred. mode, the servomotor occurs to the free run. (The operation stops with dynamic
brake.))
The servo amplifier's power supply turned OFF. The motor occurs to the free run. (The operation stops with dynamic brake.)
(The mode is to position control mode at the servo amplifier's power supply ON again.)

7 AUXILIARY AND APPLIED FUNCTIONS

136 7.3 Speed-Torque Control
7.4 Synchronous Control Initial Position
The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the
initial position for synchronous control.
The alignment to a synchronous control initial position is useful for restoring a system based on the last control status along
with restarting synchronous control after cancelling midway.
Synchronous control monitor data The position when starting synchronous control
[Md.400] Current value after composite main shaft gear (D13600+30n, Restored to a position based on the main input axis of the main shaft.
D13601+30n)
[Md.401] Current value per cycle after main shaft gear (D13602+30n, Restored according to "[Pr.460] Setting method of current value per cycle after
D13603+30n) main shaft gear (D15100+150n)".
[Md.402] Current value per cycle after auxiliary shaft gear (D13604+30n, Restored according to "[Pr.461] Setting method of current value per cycle after
D13605+30n) auxiliary shaft gear (D15101+150n)".
[Md.407] Cam axis current value per cycle (D13612+30n, D13613+30n) Restored according to "[Pr.462] Cam axis position restoration object
(D15102+150n)".
[Md.408] Cam reference position (D13614+30n, D13615+30n)
[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)

[Md.400] Current value after composite main shaft gear

(D13600+30n, D13601+30n)
Composite
Main shaft main shaft Main shaft
main input axis gear gear

7
[Md.401] Current value per cycle after main shaft gear
(D13602+30n, D13603+30n)

Main shaft Main shaft

sub input axis clutch [Prr.460] Setting method of current value per
cycle after main shaft gear (D15100+150n)
0: Previous value
Auxiliary shaft Auxiliary shaft 1: Initial setting value of current value per
gear clutch cycle after main shaft gear
Composite auxiliary
shaft gear 2: Calculate from input axis

[Md.407] Cam axis current

value per cycle
(D13612+30n, D13613+30n)
Auxiliary Output axis [Md.408] Cam reference position
shaft axis [Pr.462] Cam axis position
(D13614+30n, D13615+30n) restoration object (D15102+150n)
[Md.409] Cam axis current feed
[Md.402] Current value per cycle after auxiliary 0: Cam axis current value per
value
shaft gear (D13604+30n, D13605+30n) cycle restoration
(D13616+30n, D13617+30n)
1: Cam reference position
restoration
[Pr.461] Setting method of current value per cycle 2: Cam axis current feed value
after auxiliary shaft gear (D15101+150n) restoration
0: Previous value
1: Initial setting value of current value per
cycle after auxiliary shaft gear
2: Calculate from input axis

7 AUXILIARY AND APPLIED FUNCTIONS

7.4 Synchronous Control Initial Position 137
 Current value after composite main shaft gear when starting synchronous control
The current value after composite main shaft gear is restored as follows according to the main input axis operation executed
before starting synchronous control.
Operation of main Servo input axis Command Synchronous encoder axis
input axis (Before Absolute Absolute generation Incremental Absolute Synchronous Multiple CPU
synchronous position position axis synchronous synchronous encoder via advanced
control start) detection detection encoder encoder device synchronous
system valid system invalid control*3
Home position return Restoration method (1)  
Current value change Restoration method (1) Restoration Restoration method (1)
method (1)
Speed control ()*1 Restoration method (1) Restoration 
method (1)
Fixed-pitch feed Restoration method (1) Restoration 
control method (1)
Speed/position Restoration method (1)  
switching control*2
Connection to servo Restoration Restoration  
amplifier method (2) method (1)
Connection to   Restoration Restoration method (2) Restoration
synchronous encoder method (1) method (1)
Others Restoration method (2) Restoration Restoration method (2)
method (2)

*1 When it starts by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)" or "[Rq.347] Feed current value
update request command (M10972+20n)".
*2 When it starts by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)".
*3 When setting as a slave CPU synchronous encoder axis type (master CPU servo input axis, master CPU command generation axis,
master CPU synchronous encoder axis) in a Multiple CPU advanced synchronous control configuration.

■Restoration method (1)

The new current value after composite main shaft gear is calculated based on the current value of the main input axis.

Current value after composite main shaft gear=Main input direction of composite main shaft gear (Input +/Input -/No input
(0))Main input axis current value

■Restoration method (2)

The travel value of the main input axis from the last synchronous control session is reflected to the current value after
composite main shaft gear.

Current value after composite main shaft gear=Current value after composite main shaft gear at the last synchronous control
session+Main input direction of composite main shaft gear (Input +/Input -/No input (0))Amount of change of main input axis
current value from the last synchronous control session

The current value after composite main shaft gear at the last synchronous control session is restored when "0: Invalid" is set
in "[Pr.400] Main input axis No. (D15000+150n)", or when a servo input axis or a synchronous encoder axis as the main input
axis is not connected.

"The last synchronous control session" indicates status just before the last synchronous control session was
stopped as follows. These are listed with the last synchronization status.
• Just before "[Rq.380] Synchronous control start (M12000+n)" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the Multiple CPU system power supply turned OFF.

7 AUXILIARY AND APPLIED FUNCTIONS

138 7.4 Synchronous Control Initial Position
Current value per cycle after main shaft gear, current value per cycle after auxiliary
shaft gear when starting synchronous control
The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is restored as follows
according to the main input axis/auxiliary shaft operation executed before starting synchronous control.
Operation of main Servo input axis Command Synchronous encoder axis
input axis/ Absolute Absolute generation Incremental Absolute Synchronous Multiple CPU
auxiliary shaft position position axis synchronous synchronous encoder via advanced
(Before detection detection encoder encoder device synchronous
synchronous system valid system invalid control*3
control start)
Home position return Restoration method (1)  
Current value change Restoration method (1) Restoration Restoration method (1)
method (1)
Speed control ()*1 Restoration method (1) Restoration 
method (1)
Fixed-pitch feed Restoration method (1) Restoration 
control method (1)
Speed/position Restoration method (1)  
switching control*2
Connection to servo Restoration Restoration  
amplifier method (2) method (1)
Connection to   Restoration Restoration method (2) Restoration
synchronous encoder method (1) method (1)
7
Others Restoration method (2) Restoration Restoration method (2)
method (2)

*1 When it starts by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)" or "[Rq.347] Feed current value
update request command (M10972+20n)".
*2 When it starts by turning OFF the "[Rq.1152] Feed current value update command (M3212+20n)".
*3 When setting as a slave CPU synchronous encoder axis type (master CPU servo input axis, master CPU command generation axis,
master CPU synchronous encoder axis) in a Multiple CPU advanced synchronous control configuration.

■Restoration method (1)

The new value of the current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is
calculated based on the current value after composite main shaft gear/auxiliary shaft current value.
• Main shaft
Current value per cycle after main shaft gear=Main shaft gear ratioCurrent value after composite main shaft gear
• Auxiliary shaft
Current value per cycle after auxiliary shaft gear=Auxiliary shaft gear ratioAuxiliary shaft current value

■Restoration method (2)

The travel value from the last synchronous control session is reflected to the current value per cycle after main shaft gear/
current value per cycle after auxiliary shaft gear.
• Main shaft
Current value per cycle after main shaft gear=Current value per cycle after main shaft gear at the last synchronous control
session+Main shaft gear ratioAmount of change of current value after composite main shaft gear from the last
synchronous control session
• Auxiliary shaft
Current value per cycle after auxiliary shaft gear=Current value per cycle after auxiliary shaft gear at the last synchronous
control session+Auxiliary shaft gear ratioAmount of change of auxiliary shaft current value from the last synchronous
control session

The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear at the last synchronous
control session is restored when "0: Invalid" is set in "[Pr.400] Main input axis No. (D15000+150n)" / "[Pr.418] Auxiliary shaft
axis No. (D15024+150n)", or when a servo input axis or a synchronous encoder axis as the main input axis/auxiliary shaft is
not connected.

7 AUXILIARY AND APPLIED FUNCTIONS

7.4 Synchronous Control Initial Position 139
 Cam axis position at synchronous control start
The cam axis position is composed of the relationship of 3 positions "Cam axis current value per cycle", "Cam reference
position" and "Cam axis current feed value". One of positions can be restored by defining 2 positions when starting
synchronous control.

Cam axis current value per cycle

Cam axis current feed value

Cam reference position

Select from 3 objects as follows in "[Pr.462] Cam axis position restoration object (D15102+150n)" which position is to be
restored. (Page 144 Cam Axis Position Restoration Method)
• Cam axis current value per cycle restoration
• Cam reference position restoration
• Cam axis current feed value restoration
Various parameters need to be set for the cam axis position restoration as shown in the table below. Refer to synchronous
control initial position parameters for details of the settings. (Page 141 Synchronous Control Initial Position Parameters)
: Required, : Required for initial setting value, : Not required
[Pr.462]Cam axis [Pr.463]Setting [Pr.467]Cam [Pr.464]Setting [Pr.468]Cam axis Restoration
position method of cam reference position method of cam axis current value per processing details
restoration object reference position (Initial setting) current value per cycle (Initial
(D15102+150n) (D15103+150n) (D15110+150n, cycle setting)
D15111+150n) (D15104+150n) (D15112+150n,
D15113+150n)
0: Cam axis current     Restore "Cam axis
value per cycle (Used as search current value per cycle"
restoration starting point) based on "Cam
reference position" and
"Cam axis current feed
value".
1: Cam reference     Restore "Cam reference
position restoration position" based on "Cam
axis current value per
cycle" and "Cam axis
current feed value".
2: Cam axis current     Restore "Cam axis
feed value current feed value"
restoration based on "Cam axis
current value per cycle"
and "Cam reference
position".

7 AUXILIARY AND APPLIED FUNCTIONS

140 7.4 Synchronous Control Initial Position
7.5 Synchronous Control Initial Position Parameters
Symbol Setting item Setting details Setting value Fetch Default Device No.
cycle value
Pr.460 Setting method of Select the setting method for the 0: Previous value At start of 0 D15100+150n
current value per current value per cycle after main shaft 1: Initial setting value of current synchronous
cycle after main shaft gear. value per cycle after main control
gear shaft gear ([Pr.465])
2: Calculate from input axis
Pr.461 Setting method of Select the setting method for the 0: Previous value 0 D15101+150n
current value per current value per cycle after auxiliary 1: Initial setting value of current
cycle after auxiliary shaft gear. value per cycle after auxiliary
shaft gear shaft gear ([Pr.466])
2: Calculate from input axis
Pr.462 Cam axis position Select the object to restore the cam 0: Cam axis current value per 0 D15102+150n
restoration object axis position. cycle restoration
1: Cam reference position
restoration
2: Cam axis current feed value
restoration
Pr.463 Setting method of • Select the setting method for the 0: Previous value 2 D15103+150n
cam reference cam reference position. 1: Initial setting value of cam
position • Set for the cam axis current value reference position
per cycle restoration or the cam axis 2: Current feed value
current feed value restoration.
Pr.464 Setting method of • Select the setting method for the 0: Previous value 0 D15104+150n 7
cam axis current cam axis current value per cycle. 1: Initial setting value of cam axis
value per cycle • Set for the cam reference position current value per cycle
restoration or the cam axis current 2: Current value per cycle after
feed value restoration. main shaft gear
3: Current value per cycle after
auxiliary shaft gear
Pr.465 Current value per Set the initial value of the current value 0 to (Cam axis length per cycle-1) 0 D15106+150n
cycle after main shaft per cycle after main shaft gear. [Cam axis cycle units*1] D15107+150n
gear (Initial setting)
Pr.466 Current value per Set the initial value of the current value 0 to (Cam axis length per cycle-1) 0 D15108+150n
cycle after auxiliary per cycle after auxiliary shaft gear. [Cam axis cycle units*1] D15109+150n
shaft gear (Initial
setting)
Pr.467 Cam reference Set the initial value of the cam -2147483648 to 2147483647 0 D15110+150n
position (Initial reference position. [Output axis position units*2] D15111+150n
setting)
Pr.468 Cam axis current • Set the initial value for the cam axis 0 to (Cam axis length per cycle-1) 0 D15112+150n
value per cycle (Initial current value per cycle. [Cam axis cycle units*1] D15113+150n
setting) • The restoration value for the cam
axis current value per cycle is
searched from the setting value with
the cam axis current value per cycle
restoration.

*1 Cam axis cycle units (Page 114 Cam axis cycle units)
*2 Output axis position units (Page 114 Output axis position units)

[Pr.460] Setting method of current value per cycle after main shaft gear (D15100+150n)
Select the setting method of "[Md.401] Current value per cycle after main shaft gear (D13602+30n, D13603+30n)" when
starting synchronous control.
Setting value Description
0: Previous value The current value per cycle after main shaft gear from the last synchronous control session is stored.
1: Initial setting value of current value per cycle The value set in "[Pr.465] Current value per cycle after main shaft gear (Initial setting) (D15106+150n,
after main shaft gear D15107+150n)" is stored.
2: Calculate from input axis The value calculated based on the current value after composite main shaft gear is stored.

7 AUXILIARY AND APPLIED FUNCTIONS

7.5 Synchronous Control Initial Position Parameters 141
 [Pr.461] Setting method of current value per cycle after auxiliary shaft gear
(D15101+150n)
Select the setting method of "[Md.402] Current value per cycle after auxiliary shaft gear (D13604+30n, D13605+30n)" when
starting synchronous control.
Setting value Description
0: Previous value The current value per cycle after auxiliary shaft gear from the last synchronous control session is stored.
1: Initial setting value of current value per cycle The value set in "[Pr.466] Current value per cycle after auxiliary shaft gear (Initial setting) (D15108+150n,
after auxiliary shaft gear D15109+150n)" is stored.
2: Calculate from input axis The value calculated based on the auxiliary shaft current value is stored.

[Pr.462] Cam axis position restoration object (D15102+150n)

Select the object to be restored from "Cam axis current value per cycle", "Cam reference position" or "Cam axis current feed
value" when starting synchronous control.
Setting value Description
0: Cam axis current value per cycle restoration Restore the cam axis current value per cycle from "Cam reference position" and "Cam axis current feed
value".
1: Cam reference position restoration Restore the cam reference position from "Cam axis current value per cycle" and "Cam axis current feed
value".
2: Cam axis current feed value restoration Restore the cam axis current feed value from "Cam axis current value per cycle" and "Cam reference
position".

[Pr.463] Setting method of cam reference position (D15103+150n)

Select the method for the cam reference position to be restored when "[Pr.462] Cam axis position restoration object
(D15102+150n)" is set to "0: Cam axis current value per cycle restoration" or "2: Cam axis current feed value restoration".
Setting value Description
0: Previous value The cam reference position from the last synchronous control session is stored. The current feed value is
stored when the cam reference position from the last synchronous control session is not saved.
1: Initial setting value of cam reference The value set in "[Pr.467] Cam reference position (Initial setting) (D15110+150n, D15111+150n)" is stored.
position
2: Current feed value The value set in "[Md.20] Feed current value (D0+20n, D1+20n)" is stored.

[Pr.464] Setting method of cam axis current value per cycle (D15104+150n)
Select the method for the cam axis current value per cycle to be restored when "[Pr.462] Cam axis position restoration object
(D15102+150n)" is set to "1: Cam reference position restoration" or "2: Cam axis current feed value restoration".
Setting value Description
0: Previous value The cam axis current value per cycle from the last synchronous control session is stored as is.
1: Initial setting value of cam axis current value The value set in "[Pr.468] Cam axis current value per cycle (Initial setting) (D15112+150n, D15113+150n)" is
per cycle stored.
2: Current value per cycle after main shaft gear The current value per cycle after main shaft gear is stored.
3: Current value per cycle after auxiliary shaft The current value per cycle after auxiliary shaft gear is stored.
gear

[Pr.465] Current value per cycle after main shaft gear (Initial setting) (D15106+150n,
D15107+150n)
Set the initial setting value of the current value per cycle after main shaft gear when "[Pr.460] Setting method of current value
per cycle after main shaft gear (D15100+150n)" is set to "1: Current value per cycle after main shaft gear (Initial setting)".
The unit settings are in cam axis cycle units. (Page 114 Cam axis cycle units)
Set within the range from 0 to (Cam axis length per cycle-1).

7 AUXILIARY AND APPLIED FUNCTIONS

142 7.5 Synchronous Control Initial Position Parameters
[Pr.466] Current value per cycle after auxiliary shaft gear (Initial setting) (D15108+150n,
D15109+150n)
Set the initial setting value of the current value per cycle after auxiliary shaft gear when "[Pr.461] Setting method of current
value per cycle after auxiliary shaft gear (D15101+150n)" is set to "1: Current value per cycle after auxiliary shaft gear (Initial
setting)".
The unit settings are in cam axis cycle units. (Page 114 Cam axis cycle units)
Set within the range from 0 to (Cam axis length per cycle-1).

[Pr.467] Cam reference position (Initial setting) (D15110+150n, D15111+150n)

Set the initial setting value of the cam reference position in output axis position units when "[Pr.463] Setting method of cam
reference position (D15103+150n)" is set to "1: Cam reference position (Initial setting)". (Page 114 Output axis position
units)

[Pr.468] Cam axis current value per cycle (Initial setting) (D15112+150n,D15113+150n)
Set a value according to the setting for "[Pr.462] Cam axis position restoration object (D15102+150n)".
The unit settings are in cam axis cycle units. (Page 114 Cam axis cycle units)
Set within the range from 0 to (Cam axis length per cycle-1).
[Pr.462] Cam axis position restoration Setting value
object (D15102+150n)
0: Cam axis current value per cycle restoration Set the starting point for search processing to restore the cam axis current value per cycle.
Set to restore the position on the return path in two-way cam pattern operation.
7
Refer to cam axis current value per cycle restoration for details on search processing. (Page 144
Cam axis current value per cycle restoration)
1: Cam reference position restoration Set the initial setting value for the cam axis current value per cycle when "[Pr.464] Setting method of
2: Cam axis current feed value restoration cam axis current value per cycle (D15104+150n)" is set to "1: Cam axis current value per cycle (Initial
setting)".

7 AUXILIARY AND APPLIED FUNCTIONS

7.5 Synchronous Control Initial Position Parameters 143
 7.6 Cam Axis Position Restoration Method
Cam axis current value per cycle restoration
If "[Pr.462] Cam axis position restoration object (D15102+150n)" is set to "0: Cam axis current value per cycle restoration"
when starting synchronous control, the cam axis current value per cycle is restored based on the cam reference position and
the cam axis current feed value.
Select the method for the cam reference position to be restored. The current feed value when starting synchronous control is
used as the cam axis current feed value.
The cam axis current value per cycle is restored by searching for the corresponding value from the beginning to the end of the
cam pattern. Set the starting point from where to search the cam pattern in "[Pr.468] Cam axis current value per cycle (Initial
setting) (D15112+150n, D15113+150n)". (It is also possible to search the return path in a two-way cam pattern operation.)
[Md.20] Feed current value [Md.409] Cam axis current
(D0+20n, D1+20n) feed value The cam axis current value per cycle is
(At synchronous control start) (D13616+30n, D13617+30n) restored based on the cam reference
position and cam axis current feed value.
[Pr.463] Setting method of cam [Md.407] Cam axis current value per cycle
reference position (D13612+30n, D13613+30n)
(D15103+150n)
0: Previous value
[Md.408] Cam reference
1: Initial setting value of cam
position
reference position
(D13614+30n, D13615+30n)
2: Current feed value

Cam axis current value per cycle

Cam axis current feed value Search the cam pattern

(It is also possible to search
from the middle of the cam axis
Cam reference position current value per cycle.)

Restrictions
• With two-way cam pattern operation, if the corresponding cam axis current value per cycle is not found, minor error (error
code: 1C28H) will occur and synchronous control will not be started.
• When starting synchronous control, the current feed value may change slightly from its original position at starting
synchronous control. This is due to the readjustment of the position based on the restored cam axis current value per cycle.
This does not result in position displacement.
• With a feed operation cam pattern, if the corresponding cam axis current value per cycle is not found on the first cycle, the
cam reference position is changed automatically and the pattern is searched again.
• If the cam resolution is large, search processing may take a long time when starting synchronous control.
Number of axes Cam resolution
256 32768
1 0.44[ms] 12.2[ms]
8 1.78[ms] 94.4[ms]
16 3.55[ms] 249[ms]
32 7.10[ms] 483[ms]

7 AUXILIARY AND APPLIED FUNCTIONS

144 7.6 Cam Axis Position Restoration Method
Cam axis current value per cycle restoration operation
■With a two-way cam pattern operation
• Search from "Cam axis current value per cycle = 0". (Cam data starting point = 0)

Cam axis current value per cycle

Search from "Cam axis current value
per cycle=0".
Cam axis current feed value
(Current feed value) Restore to the first current feed value
that matches.
Cam reference position (Other values are not restored.)

• Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point = 0)
[Pr.468] Cam axis current value per cycle (Initial setting)
(D15112+150n, D15113+150n)

Cam axis current value per cycle

Search from the value in the middle.

(Preceding values are searched later.)
Cam axis current feed value Restore to the first current value
(Current feed value) that matches.

Cam reference position

(The restoration is done on the second.)
7
• Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point  0)
[Pr.468] Cam axis current value per cycle (Initial setting)
(D15112+150n, D15113+150n)
Cam axis current value per cycle

Search from the value

in the middle.
Cam axis current feed value
(Current feed value)
Cam data
starting point
Cam reference position
Restore to the first current
feed value that matches.
• The search fails.

Cam axis current value per cycle

Cam axis current feed value

(Current feed value) Restoration fails. No match is found
for the current feed value within1 cycle.

Cam reference position

■With a feed operation cam pattern

• Search from "Cam axis current value per cycle = 0". (Cam data starting point = 0)

Cam axis current value per cycle

Search from "Cam axis current value
per cycle=0".
Cam axis current feed value
(Current feed value) Restore to the first current feed value
that matches.
Cam reference position (Other values are not restored.)

7 AUXILIARY AND APPLIED FUNCTIONS

7.6 Cam Axis Position Restoration Method 145
 • Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point = 0)
[Pr.468] Cam axis current value per cycle (Initial setting)
(D15112+150n, D15113+150n)

Cam axis current value per cycle

Cam axis current feed value

(Current feed value)
New cam reference position
Cam reference position
at starting the restoration
Restore to the first current
Update the cam reference feed value that matches.
position in the next cycle
automatically.
• Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point  0)
[Pr.468] Cam axis current value per cycle (Initial setting)
(D15112+150n, D15113+150n)
Cam axis current value per cycle

Cam axis current feed value Search from the value in the middle.
(Current feed value)

New cam reference position

Cam reference position
at starting the restoration
Cam data Restore to the first current
starting point Update the cam reference feed value that matches.
position in the next cycle
automatically. (Update the
cam data on 0th point.)
• The first search is fails and a search begins for the second time.

Cam axis current value per cycle

Feed stroke

Cam axis current feed value

(Current feed value)
New cam reference position
Restore to the first current
feed value that is found in
Cam reference position the second search.
at starting the restoration

Once the restoration fails in the first search, the new cam reference position
is automatically updated to the one within the feed stroke amount, which is
equal to "Current feed value - New cam reference position", and the search
process starts again.

If the first search fails, a second search may not be processed on the next cycle for a cam pattern with a feed
stroke that is smaller than 100% of the stroke as above.
The intended cam axis current value per cycle can be found in the first search, by setting or positioning the
cam reference position in advance.

7 AUXILIARY AND APPLIED FUNCTIONS

146 7.6 Cam Axis Position Restoration Method
Cam reference position restoration
If "[Pr.462] Cam axis position restoration object (D15102+150n)" is set to "1: cam reference position restoration" when starting
synchronous control, the cam reference position is restored based on the cam axis current value per cycle and the cam axis
current feed value.
Select the method for the cam axis current value per cycle to be restored. The current feed value when starting synchronous
control is used as the cam axis current feed value.
[Pr.464] Setting method of cam axis
current value per cycle
(D15104+150n)
0: Previous value
1: Initial setting value of cam
axis current value per cycle [Md.407] Cam axis current
2: Current value per cycle value per cycle The cam reference position is restored
after main shaft gear (D13612+30n, D13613+30n) based on the cam axis current value per
3: Current value per cycle cycle and the cam axis current feed value.
after auxiliary shaft gear
[Md.408] Cam reference position
(D13614+30n, D13615+30n)

[Md.20] Feed current value [Md.409] Cam axis current

(D0+20n, D1+20n) feed value
(At synchronous control start) (D13616+30n, D13617+30n)

7
Cam axis current value per cycle

Cam axis current feed value

Cam reference position

Restored by the equation of "Current feed value - Cam axis current value per cycle"

Example
The following shows an example of restoring the cam reference position to start operation from a point (the current feed value
and the cam axis current value per cycle are 0) in the cam when the cam data starting point is not 0.

Cam axis current value per cycle 0

Cam axis current feed value 0

Cam data
starting point
Cam reference position
Cam data

7 AUXILIARY AND APPLIED FUNCTIONS

7.6 Cam Axis Position Restoration Method 147
 Cam axis current feed value restoration
If "[Pr.462] Cam axis position restoration object (D15102+150n)" is set to "2: cam current feed value restoration" when starting
synchronous control, the cam axis current feed value is restored based on the cam axis current value per cycle and the cam
reference position.
Select the method for the cam axis current value per cycle and the method for the cam reference position to be restored.
[Pr.464] Setting method of cam axis
current value per cycle
(D15104+150n)
0: Previous value
1: Initial setting value of cam
axis current value per cycle [Md.407] Cam axis current
2: Current value per cycle value per cycle
after main shaft gear (D13612+30n, D13613+30n) The cam axis current feed value is
3: Current value per cycle restored based on the cam axis current value
after auxiliary shaft gear per cycle and the cam reference position.
[Md.409] Cam axis current feed value
[Pr.463] Setting method of cam
(D13616+30n, D13617+30n)
reference position
(D15103+150n)
0: Previous value
[Md.408] Cam reference
1: Initial setting value of cam
position
reference position
(D13614+30n, D13615+30n)
2: Current feed value

Cam axis current value per cycle

Cam axis current feed value

Cam reference position

Restrictions
The cam axis current feed value moves to its restored value just after starting synchronous control when the cam axis current
feed value to be restored is different from the current feed value at synchronous control start.
If the difference is larger than "In-position width (PA10)" of servo parameter in pulse command units, minor error (error code:
1C29H) will occur and synchronous control cannot be started.
Note that, if the setting value of "In-position width" is large, a rapid operation may occur.

With cam axis current feed value restoration, calculate the cam axis current feed value with the cam position
calculation function (Page 150 Cam Position Calculation Function) or with synchronous control analysis
mode (Page 149 Synchronous Control Analysis Mode) before starting synchronous control. Then start
synchronous control after positioning to the correct cam axis current feed value.

7 AUXILIARY AND APPLIED FUNCTIONS

148 7.6 Cam Axis Position Restoration Method
7.7 Synchronous Control Analysis Mode
With synchronous control analysis mode, parameters are only analyzed for synchronous control when there is a command to
start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes
with position control before starting synchronous control.
If the target axis bit is ON in "[Rq.381] Synchronous analysis request (M12032+n)" when starting synchronous control (turning
from OFF to ON for "[Rq.380] Synchronous control start (M12000+n)"), operation enters synchronous control analysis mode.
When the synchronization position analysis is completed, the synchronous control monitor data ([Md.400] to [Md.402],
[Md.406] to [Md.411], [Md.422], [Md.425], [St.420], [St.421], [St.423], [St.424] (Page 124 Synchronous Control Monitor
Data)) is updated, and the target axis bit in "[St.381] Synchronous analysis complete (M10912+n)" turns OFF to ON.
The "[St.380] Synchronous control (M10880+n)" and "[St.1040] Start accept flag (M2001+n)" is not turned ON during
synchronous control analysis mode.
ON
[Rq.380] Synchronous control
start (M12000+n) OFF
ON
[St.380] Synchronous control
(M10880+n) OFF
ON
[Rq.381] Synchronous analysis
request (M12032+n) OFF
ON Analyzing
[St.381] Synchronous analysis
complete (M10912+n) OFF
ON

7
[St.1040] Start accept flag
OFF Start positioning on the [Md.409] Cam axis current
(M2001+n) feed value (D13616+30n, D13617+30n) at the
Analyzing beginning after checking of [St.381] Synchronous
Servo program start analysis complete (M10912+n) is OFF.

Synchronous control monitor Monitor value at synchronous

The last monitor value Monitor value at synchronous analysis complete
data control start

• Since the synchronous control analysis mode is used for the synchronous control initial position, a minor
error (error code: 1C29H) is not detected. Therefore, refer to "[Md.409] Cam axis current feed value
(D13616+30n, D13617+30n)" that is updated by "[St.381] Synchronous analysis complete (M10912+n)"
OFF to ON, and perform the synchronous alignment.
• When "[St.381] Synchronous analysis complete (M10912+n)" is ON at the synchronous control analysis
mode start, "[Rq.381] Synchronous control analysis mode request (M10912+n)" is turned OFF by turning
"[Rq.380] Synchronous control start (M12000+n)" OFF to ON.

Example
The following shows an example of aligning the synchronous position of an output axis that references the input axis.

1. Set the following values in the synchronous control initial position parameters.
Setting item Setting value
[Pr.460] Setting method of current value per cycle after main shaft gear (D15100+150n) 2: Calculate from input axis
[Pr.462] Cam axis position restoration object (D15102+150n) 2: Cam axis current feed value restoration
[Pr.463] Setting method of cam reference position (D15103+150n) 0: Previous value
[Pr.464] Setting method of cam axis current value per cycle (D15104+150n) 2: Current value per cycle after main shaft gear

2. Turn ON the target axis bit of "[Rq.381] Synchronous analysis request (M12032+n)", and then turn from OFF to ON in
"[Rq.380] Synchronous control start (M12000+n)" to start the synchronous control analysis mode.

3. Verify that "[St.381] Synchronous analysis complete (M10912+n)" is ON, and execute positioning for the output axis to be
updated to "[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)".

4. Turn OFF "[Rq.381] Synchronous analysis request (M12032+n)", and then turn from OFF to ON "[Rq.380] Synchronous
control start (M12000+n)" to start synchronous control.

7 AUXILIARY AND APPLIED FUNCTIONS

7.7 Synchronous Control Analysis Mode 149
 7.8 Cam Position Calculation Function
The cam position is calculated by the CAMPSCL instruction (Cam position calculation) of Motion SFC program with this
function. This function can be used to calculate the cam position for the synchronous control initial position before starting
synchronous control.
Refer to the following for details of CAMPSCL instruction.
MELSEC iQ-R Motion controller Programming Manual (Program Design)

Example
The following shows the procedure for synchronous position alignment, in a synchronous system where cam axes 2 and 3 are
synchronized with the cam axis current value per cycle of axis 1.

1. Calculate the cam axis current value per cycle using this function based on the current feed value and the cam reference
position of axis 1.

2. Calculate the cam axis current feed value of axis 2 with this function based on the cam axis current value per cycle that
was calculated in procedure 1.

3. Calculate the cam axis current feed value of axis 3 with this function based on the cam axis current value per cycle that
was calculated in procedure 1.

4. Execute positioning on axis 2 to bring the cam to the cam axis current feed value which was calculated in procedure 2,
and also on axis 3 to the cam axis current feed value which was calculated in procedure 3.

5. Start synchronous control on axis 1, 2 and 3 with the current feed value restoration mode. Use the cam axis current value
per cycle that was calculated in procedure 1 for the cam axis current value per cycle (Initial setting).

7 AUXILIARY AND APPLIED FUNCTIONS

150 7.8 Cam Position Calculation Function
7.9 Method to Restart Synchronous Control
The relationship of the synchronous position for synchronous control is always saved in the Motion CPU module.
Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized
relationship through the synchronous control initial position parameters. (Page 141 Synchronous Control Initial Position
Parameters)
The reference axis used to restart synchronous control is different for each system. The following procedure shows an
example of how to restore synchronized values based on the servo input axis as reference position.

Example
Restoring 2 output axes (axis 2, axis 3) based on the servo input axis (axis 1) as the reference position.(Press conveyance
device)

Pressing position
(Axis 1) Main shaft Main shaft
gear gear

Axis 1 Axis 1
Y axis of workpiece
conveyance (Axis 3)
X axis of workpiece Axis 2 Axis 3
conveyance (Axis 2)

■Procedure for synchronous control (first time)

1. Execute home position return for axis 1, 2 and 3, and position to the synchronization starting point. 7
2. Set the synchronous control initial position parameters for axis 2 and 3 as follows.
Setting item Setting value
[Pr.460] Setting method of current value per cycle after main shaft gear (D15100+150n) 2: Calculate from input axis
[Pr.462] Cam axis position restoration object (D15102+150n) 2: Cam axis current value per cycle restoration
[Pr.463] Setting method of cam reference position (D15103+150n) 0: Current feed value
[Pr.468] Cam axis current value per cycle (Initial setting) (D15112+150n, D15113+150n) 0

3. Turn ON the bit device for axis 2 and 3 in "[Rq.380] Synchronous control start (M12000+n)" to start synchronous control.

■Procedure for restarting synchronous control

1. Set the synchronous control initial position parameters for axis 2 and 3 as follows.
Setting item Setting value
[Pr.460] Setting method of current value per cycle after main shaft gear (D15100+150n) 2: Calculate from input axis
[Pr.462] Cam axis position restoration object (D15102+150n) 2: Cam axis current feed value restoration
[Pr.463] Setting method of cam reference position (D15103+150n) 0: Previous value
[Pr.464] Setting method of cam axis current value per cycle (D15104+150n) 2: Current value per cycle after main shaft gear

2. Turn ON the bit device for axis 2 and 3 in "[Rq.381] Synchronous analysis request (M12032+n)", and then turn ON the bit
device for axis 2 and 3 in "[Rq.380] Synchronous control start (M12000+n)" to execute the synchronous control analysis.
The analyzed result is updated in Synchronous control monitor data ([Md.400] to [Md.402], [Md.406] to [Md.411],
[Md.422], [Md.425], [St.420], [St.421], [St.423], [St.424]. (Page 124 Synchronous Control Monitor Data))

3. Position axis 2 and 3 to "[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)" which has been updated in
procedure 2.

4. Turn OFF the bit device for axis 2 and 3 in "[Rq.381] Synchronous analysis request (M12032+n)", and then turn ON the
bit device for axis 2 and 3 in "[Rq.380] Synchronous control start (M12000+n)" to start synchronous control.

7 AUXILIARY AND APPLIED FUNCTIONS

7.9 Method to Restart Synchronous Control 151
 7.10 Multiple CPU Advanced Synchronous Control
Multiple CPU advanced synchronous control overview
By synchronizing with the input axis of the master CPU and executing synchronous control on the slave CPU, synchronous
operation between Multiple CPUs can be executed.
The settings of the master CPU and slave CPU are set with the Multiple CPU advanced synchronous control setting. Also, by
setting the status device to be used in Multiple CPU advanced synchronous control, you can monitor the status of other CPUs
that constitute the Multiple CPU advanced synchronous control.
By setting the input axis type (master CPU servo input axis, master CPU command generation axis, master CPU synchronous
encoder axis) of the master CPU that is to be connected as a synchronous encoder on the slave CPU side, it can be
synchronized with the input axis of the master CPU by starting synchronous control.
Master CPU (1 module)
Slave CPU (Up to 2 modules)

SSCNET(/H)

d01 d16 d01 d16 d01 d16

MR-J3(W)-B/MR-J4(W)-B model servo amplifier

Up to 96 axes (32 axes 3 CPU)/system
R32MTCPU: 2 lines (Up to 32 axes)
R16MTCPU: 1 line (Up to 16 axes)

Features of Multiple CPU advanced synchronous control

The features of Multiple CPU advanced synchronous control are shown below.

■Synchronous operation of up to 96 axes

By having up to three Motion CPU modules (One master CPU, up to two slave CPUs) constituting the Multiple CPU system
on one base unit, the servo motors of up to 96 axes (32 axes × 3 CPUs) can be synchronized.

■All status devices can be transmitted

The transmission of all status devices related to Multiple CPU advanced synchronous control can be transmitted between the
master CPU and the slave CPU.

7 AUXILIARY AND APPLIED FUNCTIONS

152 7.10 Multiple CPU Advanced Synchronous Control
Setting example
The following shows an example for synchronizing the output axis of the slave CPU (CPU No.3, CPU No.4) with the command
generation axis (Axis 1) of the master CPU (CPU No.2).
Setting item CPU No.
CPU No.2 (Master CPU) CPU No.3 (Slave CPU) CPU No.4 (Slave CPU)
Multiple CPU synchronous control CPU Master CPU Slave CPU Slave CPU
setting
[Pr.340] Command generation axis valid 1: Valid  
setting (Axis 1)
[Pr.320] Synchronous encoder axis type  401: Master CPU command 401: Master CPU command
(Axis 1) generation axis (Axis 1) generation axis (Axis 1)

Master CPU (CPU No.2)

Positioning start
Main shaft Composite main Main shaft
main input shaft gear gear
Command axis
Servo program
generation axis
Positioning control parameter
(Command
generation axis) Command
generation axis Main shaft
(Axis 1) clutch
Main shaft
sub input axis Speed
Auxiliary Auxiliary Speed change
shaft shaft change gear
gear clutch gear
Composite
auxiliary
shaft gear
7
Speed
change
gear

Auxiliary
shaft axis Cam
Output axis

Servo Servo Servo

amplifier amplifier amplifier

Servo Servo Servo

motor motor motor

Slave CPU (CPU No.3) Slave CPU (CPU No.4)

Main shaft Composite main Main shaft Main shaft Composite main Main shaft
main input shaft gear gear main input shaft gear gear
Synchronous axis Synchronous axis
encoder axis encoder axis
parameter*1 parameter*1
Synchronous Synchronous
encoder axis Main shaft encoder axis Main shaft
(Axis 1) clutch (Axis 1) clutch
Main shaft Main shaft
*1: Master CPU sub input axis Speed *1: Master CPU sub input axis Speed
command Auxiliary Auxiliary Speed change command Auxiliary Auxiliary Speed change
generation axis shaft shaft change gear generation axis shaft shaft change gear
is connected to gear clutch gear is connected to gear clutch gear
axis 1. Composite axis 1. Composite
auxiliary auxiliary
shaft gear shaft gear

Speed Speed
change change
gear gear

Auxiliary Auxiliary
shaft axis Cam shaft axis Cam
Output axis Output axis

Servo Servo Servo Servo Servo Servo

amplifier amplifier amplifier amplifier amplifier amplifier

Servo Servo Servo Servo Servo Servo

motor motor motor motor motor motor

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 153
 • It takes two operation cycles until the slave CPU processes the command value sent from the master CPU.
For this reason, the processing software in the Motion CPU, compensates for this by delaying the output
axis of the master CPU side by two operation cycles. By doing this, the timing of commands to the output
axes of the master CPU and slave CPU do not deviate largely.
• Because of the compensation in (1), the update of the synchronous control monitor data in the output axis
for the input axis on the master CPU side, is delayed two operation cycles. Also, when an operation such as
a current value change etc. is executed at the main input axis, the timing of the change of "[Md.400] Current
value after composite main shaft gear (D13600+30n, D13601+30n)" is also delayed two operation cycles.
(Example) For setting the command generation axis in the master CPU
Master CPU Slave CPU

Input axis Input axis

Command generation axis Delay of 2 operation cycles Synchronous encoder axis
monitor data monitor data
[Md.340] to [Md.348], [Md.320] to [Md.324],
[St.340] to [St.349] [Md.326], [Md.327],
[St.320] to [St.325]
Delay of 2
operation cycles
(compensated
by software)
Output axis Output axis
Synchronous control Synchronous control
monitor data monitor data
[Md.400] to [Md.402], Same timing [Md.400] to [Md.402],
[Md.406] to [Md.411], [Md.406] to [Md.411],
[Md.422], [Md.425], [Md.422], [Md.425],
[St.420], [St.421], [St.420], [St.421],
[St.423], [St.424] [St.423], [St.424]

• To remove the delay time described above, using the phase compensation function of the output axis for the
slave CPU and the master CPU, set a value that adds a delay compensation time of two operation cycles to
the delay time inherent to the system. Refer to phase compensation on delay time of the input axis for delay
time inherent to the system. (Page 129 Phase compensation on delay time of the input axis)

Precautions
In the master CPU, when changing "[Md.400] Current value after composite main shaft gear (D13600+30n, D13601+30n)"
continuously, execute after two operation cycles have passed. If executed within two operation cycles, "[Md.400] Current
value after composite main shaft gear (D13600+30n, D13601+30n)" might not be changed.

7 AUXILIARY AND APPLIED FUNCTIONS

154 7.10 Multiple CPU Advanced Synchronous Control
Setting for Multiple CPU advanced synchronous control
The setting of the master CPU and slave CPU are necessary for Multiple CPU advanced synchronous control.
Also, in order to monitor the information of other CPUs that constitute the Multiple CPU advanced synchronous control, setting
of the status device of each CPU is executed.
The settings for Multiple CPU advanced synchronous control are set in the Multiple CPU advanced synchronous control
setting.
[Motion Control Parameter]  [Synchronous Control Parameter]  [Multiple CPU advanced synchronous control
setting]
Item Setting range Default value
Multiple CPU advanced synchronous control CPU setting 0: Independent CPU/1: Master CPU/2: Slave CPU Independent CPU
*1*2 *4
Status device setting Synchronous controlling Word device/Bit device/ 
Master CPU input axis*3 Transfer information 
Error information 
Status for each CPU 
Error status for each CPU and axis 

*1 By setting devices for CPU No.2 to 4, the status of each Motion CPU can be monitored.
*2 If Motion CPU is set to independent operation, nothing will be stored in the device.
*3 Can be set when Multiple CPU synchronous control setting is "Slave CPU".
*4 This setting can be omitted.

7
A delay of two operation cycles occurs for the device value assigned to each Motion CPU.

Multiple CPU advanced synchronous control CPU setting

Execute the setting of the master CPU and slave CPU that constitute the Multiple CPU advanced synchronous control.
Setting value Description
0: Independent CPU Operates as an independent CPU. (Operation in normal state that does not use Multiple CPU advanced synchronous
control.)
1: Master CPU Operates as master CPU. (Can be set in a Motion CPU other than CPU No.2.)
2: Slave CPU Operates as slave CPU.

In a Multiple CPU system configuration, it is possible to have a mixture of Motion CPU that operate independently
(independent CPU), and Motion CPU that operate in Multiple CPU synchronous control (master CPU, slave CPU).
If configuring a Multiple CPU system, it is necessary to have one master CPU, and at least one slave CPU.

• Set the same operation cycle for all Motion CPU that are executing Multiple CPU advanced synchronous
control.
• For the master CPU and slave CPU, the operation time is approximately an additional 130[s] more
compared to an independent CPU. When an operation cycle over is detected, change the operation cycle to
a larger value.

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 155
 Status device setting
Refer to the following for the setting range of usable word devices and bit devices.
 MELSEC iQ-R Motion Controller Programming Manual (Common)

■Synchronous controlling (2 words)

Set the start number of the device to monitor the status of CPU No.2 to 4 synchronous control for each Motion CPU.
This setting can be omitted.
• Word device setting
Set an even number at the start of the device.
The status of synchronous control is stored in the set devices as follows.
Offset Item
+0 Synchronous control signal

Bit Details Device

0 [St.380] Synchronous control Axis 1 M10880

1 [St.380] Synchronous control Axis 2 M10881

to to to

15 [St.380] Synchronous control Axis 16 M10895

+1 Synchronous control signal

Bit Details Device

0 [St.380] Synchronous control Axis 17 M10896

1 [St.380] Synchronous control Axis 18 M10897

to to to

15 [St.380] Synchronous control Axis 32 M10911

• Bit device setting

Set a number in a unit of 32 points at the start of the device.
The status of synchronous control is stored in the set devices as follows.
Offset Item Device
+0 [St.380] Synchronous control Axis 1 M10880
+1 [St.380] Synchronous control Axis 2 M10881
to to to
+31 [St.380] Synchronous control Axis 32 M10911

7 AUXILIARY AND APPLIED FUNCTIONS

156 7.10 Multiple CPU Advanced Synchronous Control
■Master CPU input axis transfer information (6 words)
Set the start number of the device to monitor the connection status for each input axis type of the master CPU. Only set this
when set as "Slave CPU".
This setting can be omitted.
Master CPU input axis Description
Servo input axis When the type is set in "[Pr. 300] Servo input axis type", and connection to servo amplifier is complete, status turns ON.
Command generation axis When the "[Pr.340] Command generation axis valid setting" is set to "1: Valid", status turns ON.
Synchronous encoder axis When the "[St.321] Synchronous encoder axis connecting valid flag (M10441+10n)" is ON, status turns ON.

• Word device setting

Set an even number at the start of the device.
The connection status for each input axis type is stored in the set devices as follows.
Offset Item
+0 Servo input axis connecting information

Bit Details
0 Servo input axis connecting information Axis 1

1 Servo input axis connecting information Axis 2

to to

15 Servo input axis connecting information Axis 16

+1 Servo input axis connecting information 7

Bit Details
0 Servo input axis connecting information Axis 17

1 Servo input axis connecting information Axis 18

to to

15 Servo input axis connecting information Axis 32

+2 Command generation axis connecting information

Bit Details
0 Command generation axis connecting information Axis 1

1 Command generation axis connecting information Axis 2

to to

15 Command generation axis connecting information Axis 16

+3 Command generation axis connecting information

Bit Details
0 Command generation axis connecting information Axis 17

1 Command generation axis connecting information Axis 18

to to

15 Command generation axis connecting information Axis 32

+4 Synchronous encoder axis connecting information

Bit Details
0 Synchronous encoder axis connecting information Axis 1

1 Synchronous encoder axis connecting information Axis 2

to to

11 Synchronous encoder axis connecting information Axis 12

12 Empty

to

15

+5 Empty

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 157
 • Bit device setting
Set a number in a unit of 32 points at the start of the device.
The connection status for each input axis type is stored in the set devices as follows.
Offset Item
+0 Servo input axis connecting information Axis 1
+1 Servo input axis connecting information Axis 2
to to
+31 Servo input axis connecting information Axis 32
+32 Command generation axis connecting information Axis 1
+33 Command generation axis connecting information Axis 2
to to
+63 Command generation axis connecting information Axis 32
+64 Synchronous encoder axis connecting information Axis 1
+65 Synchronous encoder axis connecting information Axis 2
to to
+75 Synchronous encoder axis connecting information Axis 12
+76 Empty
to
+95

7 AUXILIARY AND APPLIED FUNCTIONS

158 7.10 Multiple CPU Advanced Synchronous Control
■Master CPU input axis error information (6 words)
Set the start number of the device to monitor the error detection information of each input axis type of the master CPU. Only
set this when set as "Slave CPU".
This setting can be omitted.
Master CPU input axis Description
Servo input axis error detection When the master CPU "[St.1067] Error detection (M2407+20n)" or "[St.1068] Servo error detection (M2408+20n)" is ON,
the status is ON.
Command generation axis error The status of "[St.344] Command generation axis error detection (M9807+20n)" of the master CPU is stored.
detection
Synchronous encoder axis error The status of "[St.324] Synchronous encoder axis error detection (M10444+20n)" of the master CPU is stored.
detection

• Word device setting

Set an even number at the start of the device.
The error detection information for each input axis type is stored in the set devices as follows.
Offset Item
+0 Servo input axis error information

Bit Details Device

0 Servo input axis error detection Axis 1 M2407, M2408

1 Servo input axis error detection Axis 2 M2427, M2428

to to to 7
15 Servo input axis error detection Axis 16 M2707, M2708

+1 Servo input axis error information

Bit Details Device

0 Servo input axis error detection Axis 17 M2727, M2728

1 Servo input axis error detection Axis 18 M2747, M2748

to to to

15 Servo input axis error detection Axis 32 M3027, M3028

+2 Command generation axis error information

Bit Details Device

0 Command generation axis error detection Axis 1 M9807

1 Command generation axis error detection Axis 2 M9827

to to to

15 Command generation axis error detection Axis 16 M10107

+3 Command generation axis error information

Bit Details Device

0 Command generation axis error detection Axis 17 M10127

1 Command generation axis error detection Axis 18 M10147

to to to

15 Command generation axis error detection Axis 32 M10427

+4 Synchronous encoder axis error information

Bit Details Device

0 Synchronous encoder axis error detection Axis 1 M10444

1 Synchronous encoder axis error detection Axis 2 M10454

to to to

11 Synchronous encoder axis error detection Axis 12 M10554

12 Empty

to «
15

+5 Empty

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 159
 • Bit device setting
Set a number in a unit of 32 points at the start of the device.
The error detection information for each input axis type is stored in the set devices as follows.
Offset Item Device
+0 Servo input axis error detection Axis 1 M2407, M2408
+1 Servo input axis error detection Axis 2 M2427, M2428
to to to
+31 Servo input axis error detection Axis 32 M3027, M3028
+32 Command generation axis error detection Axis 1 M9807
+33 Command generation axis error detection Axis 2 M9827
to to to
+63 Command generation axis error detection Axis 32 M10427
+64 Synchronous encoder axis error detection Axis 1 M10444
+65 Synchronous encoder axis error detection Axis 2 M10454
to to to
+75 Synchronous encoder axis error detection Axis 12 M10554
+76 Empty
to
+95

7 AUXILIARY AND APPLIED FUNCTIONS

160 7.10 Multiple CPU Advanced Synchronous Control
■Status for each CPU (1 word)
Set the start number of the device to monitor the information of the "PLC ready flag", "PCPU READY complete flag" and other
devices in CPU No.2 to 4 below for each Motion CPU.
This setting can be omitted.
• Word device setting
Set an even number at the start of the device.
The device information is stored in the set devices as follows.
Bit Item Device
0 PLC ready flag M2000
1 Unusable 
2 PCPU READY complete flag SM500
3 TEST mode ON flag SM501
4 External forced stop input flag SM502
5 Unusable 
6 Operation cycle over flag M2054
7 Motion error detection flag M2039
8 Unusable 
to
15

• Bit device setting 7

Set a number in a unit of 32 points at the start of the device.
The device information is stored in the set devices as follows.
Offset Item Device
+0 PLC ready flag M2000
+1 Unusable 
+2 PCPU READY complete flag SM500
+3 TEST mode ON flag SM501
+4 External forced stop input flag SM502
+5 Unusable 
+6 Operation cycle over flag M2054
+7 Motion error detection flag M2039
+8 Unusable 
to
+15

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 161
 ■Error status for each CPU and axis (4 words)
Set the start number of the device to monitor the error information of each axis in CPU No. 2 to 4 for each Motion CPU.
This setting can be omitted.
• Word device setting
Set an even number at the start of the device.
The error information of each axis is stored in the set devices as follows.
Offset Item
+0 Axis error information

Bit Details Device

0 Error detection of axis 1 M2407

1 Error detection of axis 2 M2427

to to to

15 Error detection of axis 16 M2707

+1 Axis error information

Bit Details Device

0 Error detection of axis 17 M2727

1 Error detection of axis 18 M2747

to to to

15 Error detection of axis 32 M3027

+2 Servo error information

Bit Details Device

0 Servo error detection of axis 1 M2408

1 Servo error detection of axis 2 M2428

to to to

15 Servo error detection of axis 16 M2708

+3 Servo error information

Bit Details Device

0 Servo error detection of axis 17 M2728

1 Servo error detection of axis 18 M2748

to to to

15 Servo error detection of axis 32 M3028

• Bit device setting

Set a number in a unit of 32 points at the start of the device.
The error information of each axis is stored in the set devices as follows.
Offset Item Device
+0 Error detection of axis 1 M2407
+1 Error detection of axis 2 M2427
to to to
+31 Error detection of axis 32 M3027
+32 Servo error detection of axis 1 M2408
+33 Servo error detection of axis 2 M2428
to to to
+63 Servo error detection of axis 32 M3028

7 AUXILIARY AND APPLIED FUNCTIONS

162 7.10 Multiple CPU Advanced Synchronous Control
Fixed scan communication setting/inter-module synchronization
setting
For Motion CPUs that constitute Multiple CPU advanced synchronous control, fixed scan communication function, or inter-
module synchronization function between CPUs must be enabled. If neither fixed scan communication function nor inter-
module synchronization function are set, a moderate error (error code: 30F5H) occurs after the Multiple CPU system power
supply is turned ON.
Refer to the following for details on fixed scan communication function and inter-module synchronization function.
MELSEC iQ-R Motion Controller Programming Manual (Common)

• For Motion CPUs that constitute Multiple CPU advanced synchronous control, be sure to set "Synchronize"
for all CPUs in [System Parameter]  [Multiple CPU Setting]  "Operation Mode Setting"  "Synchronous
Startup Setting" in GX Works3. If "Do not Synchronize" is set, the startup timing of the CPUs differs, and a
moderate error (error code: 30F6H) may occur.
• For Motion CPUs that constitute Multiple CPU advanced synchronous control, when fixed scan
communication function is set to "Not Used", and inter-module synchronization function is set to "Use", be
sure to set "Synchronize" for all modules in [System Parameter]  [Synchronization Setting within the
Modules]  "Synchronization Setting within the Modules"  "Select Synchronous Target Unit between
Unit" in GX Works3. If "Do not Synchronize" is set, a moderate error (error code: 30F5H) occurs.

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 163
 Selection of slave CPU input axis type
In the slave CPU side, by setting the input axis type of the master CPU from the input axis parameter "[Pr.320] Synchronous
encoder axis type", the change amount from the master CPU becomes the input value, and is controlled as a synchronous
encoder axis.
When the master CPU input axis type is servo input axis or synchronous encoder axis, the input value transmitted to the slave
CPU from the master CPU and the relation with each monitor data of the input axis is shown below. (For the command
generation axis, the change amount of the generated command, is transmitted).
• If "301: Master CPU servo input axis" in "[Pr.320] Synchronous encoder axis type" is selected.
The change amount generated from the current value of the master CPU servo input axis is transmitted to the slave CPU.
Master CPU side Slave CPU side

[Pr.300]Servo input axis type

Servo motor potion
Current feed value
Real current value
Servo command value
Feedback value [Pr.320] Synchronous encoder axis type
301: Master CPU servo input axis
Synchronous encoder input

Counter disable/
Input smoothing Counter enable
processing

Unit conversion

Phase [Md.302] Servo input axis

compensation phase compensation amount
on processing (D12284+10n, D12285+10n)
Input smoothing
processing

[Md.303] Servo input axis rotation

Rotation direction direction restriction amount
restriction (D12286+10n, D12287+10n)
Phase [Md.323] Synchronous encoder
compensation axis phase compensation amount
[Md.300] Servo input axis current on processing (D13246+20n, D13247+20n)
value
Current value of (D12280+10n, D12281+10n)
servo input axis [Md.301] Servo input axis speed
(D12282+10n, D12283+10n) [Md.324] Synchronous encoder
Rotation direction axis rotation direction restriction
restriction amount
(D13248+20n, D13249+20n)

Current value [Md.320] Synchronous encoder

change axis current value
(D13240+20n, D13241+20n)
[Md.321] Synchronous encoder
Current value of
axis current value per cycle
synchronous
(D13242+20n, D13243+20n)
encoder axis
[Md.322] Synchronous encoder
axis speed
(D13244+20n, D13245+20n)

7 AUXILIARY AND APPLIED FUNCTIONS

164 7.10 Multiple CPU Advanced Synchronous Control
• If "501: Master CPU synchronous encoder axis" in "[Pr.320] Synchronous encoder axis type" is selected.
The change amount of the input pulse to the synchronous encoder on the master CPU is transmitted to the slave CPU.
Also, control by a current value change by "[Rq.320] Synchronous encoder axis control request (D14823+20n)", counter
enable, and counter disable, are not reflected in the change amount that is transmitted.
Master CPU side Slave CPU side

[Pr.320] Synchronous encoder axis type

1: Synchronous encoder Pn
101: Synchronous encoder via servo amplifier
201: Via device
[Pr.320] Synchronous encoder axis type
Synchronous encoder input
501: Master CPU synchronous encoder axis
Synchronous encoder input

Counter disable/ Counter disable/

Counter enable Counter enable

Unit conversion Unit conversion

Input smoothing Input smoothing

processing processing

Phase [Md.323] Synchronous encoder Phase [Md.323] Synchronous encoder

compensation
on processing
axis phase compensation amount
(D13246+20n, D13247+20n)
compensation
on processing
axis phase compensation amount
(D13246+20n, D13247+20n) 7

[Md.324] Synchronous encoder [Md.324] Synchronous encoder

Rotation direction axis rotation direction restriction Rotation direction axis rotation direction restriction
restriction amount restriction amount
(D13248+20n, D13249+20n) (D13248+20n, D13249+20n)

Current value [Md.320] Synchronous encoder Current value [Md.320] Synchronous encoder
change axis current value change axis current value
(D13240+20n, D13241+20n) (D13240+20n, D13241+20n)
[Md.321] Synchronous encoder [Md.321] Synchronous encoder
Current value of Current value of
axis current value per cycle axis current value per cycle
synchronous synchronous
(D13242+20n, D13243+20n) (D13242+20n, D13243+20n)
encoder axis encoder axis
[Md.322] Synchronous encoder [Md.322] Synchronous encoder
axis speed axis speed
(D13244+20n, D13245+20n) (D13244+20n, D13245+20n)

Setting method
Set the input axis of the master CPU in "[Pr.320] Synchronous encoder axis type".
Connection is invalid just after the system's power supply is ON. If "[Rq.324] Connection command of synchronous encoder
via device/master CPU (M11602+4n)" is turned ON, connection becomes valid, "0" is stored in "[Md.320] Synchronous
encoder axis current value (D13240+20n, D13241+20n)", "[Md.321] Synchronous encoder axis current value per cycle
(D13242+20n, D13243+20n)", and will be on the counter enabling status.
At this time, if setting the input axis of the master CPU to current value, execute a current value change.
When the input axis set in "[Pr. 320] Synchronous encoder axis type" is invalid on the master CPU side, or not connected, a
major error (error code: 1825) occurs, and connection becomes invalid.

Match the control unit of "[Pr.321] Synchronous encoder axis unit setting" with the unit settings of the input
axis of the master CPU.

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 165
 Setting example
The following shows an example for setting the input from axis 8 of the master CPU servo input axis to the synchronous
encoder axis 2 of the slave CPU.

■Master CPU side

Set the following in the Multiple CPU advanced synchronous control setting.
Setting item Setting value
Multiple CPU advanced synchronous control CPU setting Master CPU

[Motion Control Parameter]  [Synchronous Control Parameter]  [Multiple CPU Advanced Synchronous Control
Setting]

Set the master CPU servo input axis settings in the servo input axis parameters. (Page 31 Servo input axis parameters)

■Slave CPU side

Set the following in the Multiple CPU advanced synchronous control setting.
Setting item Setting value
Multiple CPU advanced synchronous control CPU setting Slave CPU

[Motion Control Parameter]  [Synchronous Control Parameter]  [Multiple CPU Advanced Synchronous Control
Setting]

7 AUXILIARY AND APPLIED FUNCTIONS

166 7.10 Multiple CPU Advanced Synchronous Control
Set the following in synchronous encoder axis setting of synchronous encoder axis 2 on the synchronous encoder axis
parameter screen.
Item Setting value
Type 301: Master CPU servo input axis
Synchronous encoder No. (Pn) 8

[Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder
Axis Parameter]

When confirming the status of other CPUs, in the status device setting, set the device for each item.

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 167
 Multiple CPU advanced synchronous control monitor device
The status of initial processing and CPU setting in Multiple CPU advanced synchronous control can be confirmed with the
following monitor devices.
Device No. Monitor item Storage details Monitor value Refresh cycle
SD561 Multiple CPU advanced The CPU setting status of Multiple CPU 0: Independent CPU At power supply ON
synchronous control setting status advanced synchronous control is stored. 1: Master CPU
2: Slave CPU
SM561 Multiple CPU advanced Turns ON when the initial processing of ON : Initial processing
synchronous control initial Multiple CPU advanced synchronous complete
complete flag control is completed. OFF: Initial processing not
complete

Multiple CPU advanced synchronous control setting status (SD561)

At Multiple CPU system power supply ON, the CPU setting status of Multiple CPU advanced synchronous control is stored.

Multiple CPU advanced synchronous control initial complete flag (SM561)

After Multiple CPU system power supply ON, this flag turns ON when the initial processing of Multiple CPU advanced
synchronous control is completed normally.
This flag does not turn ON when a moderate error of Multiple CPU advanced synchronous control occurs or the CPU is
operating as an independent CPU.

7 AUXILIARY AND APPLIED FUNCTIONS

168 7.10 Multiple CPU Advanced Synchronous Control
Example programs
In order to maintain synchronizing between master CPU and slave CPU, start synchronizing by the following procedure.

1. Match the relationship of the controlling position of the master CPU and slave CPU.

2. Set the "[Rq.324] Connection command of synchronous encoder via device/master CPU (M11602+4n)" in the slave CPU
ON, and confirm the connection is valid in "[St.321] Synchronous encoder axis connecting valid flag (M10441+10n)".

3. Start synchronous control of the output axis in the slave CPU, and operate the input axis of the master CPU.

If synchronous control in the output axis of the slave CPU is started after operating the input axis of the master CPU first, the
synchronous relationship between the master CPU and slave CPU will deviate for the movement up until the synchronous
control in the output axis of the slave CPU was started.
When ending synchronous control, end synchronous control after stopping operation of the input axis.

Setting of program example

■Master CPU: CPU No.2
• Input axis : Servo input axis Axis 3
• Output axis : Axis 1
• Multiple CPU advanced synchronous control setting
Item CPU No.2 CPU No.3
Multiple CPU advanced synchronous control CPU setting Master CPU  7
Status device setting Synchronous controlling M128 M160
Master CPU input axis Transfer information  
Error information  
Status for each CPU D1800 D1801
Error status for each CPU and axis D2000 D2010

■Slave CPU: CPU No.3

• Input axis : Synchronous encoder axis Axis 8 (Select master CPU servo input axis Axis 3)
• Output axis : Axis 16
• Multiple CPU advanced synchronous control setting
Item CPU No.2 CPU No.3
Multiple CPU advanced synchronous control CPU setting  Slave CPU
Status device setting Synchronous controlling M128 M160
Master CPU input axis Transfer information  M96
Error information  D1000
Status for each CPU D1800 D1801
Error status for each CPU and axis D2000 D2010

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 169
 ■Synchronous control start program
<Master CPU> <Slave CPU>
After completing alignment, confirm that the output axis of the slave CPU is in After completing alignment, connect the synchronous encoder and then after
synchronous control and turn ON synchronous control start. executing a current value change, turn ON synchronous control start.

Sync_ax1 Sync_ax16

Axis alignment Axis alignment

[G 1] [G 1]
//Waiting for subroutine process complete //Waiting for subroutine process complete
NOP NOP

[F 1] [G 10]
//Master CPU alignment complete signal //Master CPU servo input axis (axis 3) confirms
SET B1000 connection status and aligning completion
M98*B1000

[G 2]
//Master CPU axis 1 start accept OFF by [St.380] [F 10]
Synchronous control ON of slave CPU (CPU No.3) //[Rq.324] Connection command of synchronous encoder
axis 16 via device/master CPU
M175*!M2001 SET M11630

[F 2] [G 11]
//Axis 1 [Rq.380] Synchronous control start ON //[Sr.321] Synchronous encoder axis connection valid flag
SET M12000 (Axis 8)
M10511

END
[F 12]
//Current value change for synchronous encoder axis
(axis 8) of slave CPU
D14893=0
//[Cd.321] Synchronous encoder axis control method:
Current value change
D14894L=200000
//[Cd.322] Synchronous encoder axis current value
setting address
SET M11629
//[Rq.320] Synchronous encoder axis control request ON

[G 13]
//[St.325] Synchronous encoder axis control complete flag
ON and slave CPU axis 16 start accept OFF
M10516*M2016

[F 14]
//[Rq.380] Synchronous control start ON of axis 16
SET M12015

END

7 AUXILIARY AND APPLIED FUNCTIONS

170 7.10 Multiple CPU Advanced Synchronous Control
■Error detection program
<Master CPU> <Slave CPU>
If each error detection signal of the master CPU and slave CPU, or servo error If the input axis error information of the master CPU, error detection signals of
detection signals turn ON, synchronous control start turns OFF. the slave CPU, or servo error detection signals turn ON, synchronous control
start turns OFF.

Error detection Error detection

P0 P0

[G 20] [G 30]
RST M0 RST M0
//Error status check of each axis of each CPU //Check master CPU input axis error information
(CPU No.2: axis 1, axis 3) SET M0=(D1000L&H00000004)!=0
SET M0=(D2000L&H00000005)!=0 //Error status check of each axis of each CPU
// Error detection signal (CPU No.2: axis 1, axis 3)
SET M0=(D2002L&H00000005)!=0 SET M0=(D2000L&H00000005)!=0
//Servo error detection signal //Error detection signal
//Error status check of each axis of each CPU SET M0=(D2002L&H00000005)!=0
(CPU No. 3: axis 16) //Servo error detection signal
SET M0=(D2010L&H00008000)!=0 //Error status check of each axis of each CPU
//Error detection signal (CPU No.3: axis 16)
SET M0=(D2012L&H00008000)!=0 SET M0=(D2010L&H00008000)!=0
//Servo error detection signal //Error detection signal
//Repeat until error detection SET M0=(D2012L&H00008000)!=0
M0 //Servo error detection signal
//Repeat until error detection
M0
[F 21]
//[Rq.380] Synchronous control start OFF of CPU No.2
7
[F 31]
axis 1 //[Rq.380] Synchronous control start OFF of CPU No.3
RST M12000 axis 16
RST M12015

Error display
Error display

[G 22]
//Waiting for subroutine process complete [G 32]
NOP //Waiting for subroutine process complete
NOP

P0
P0

7 AUXILIARY AND APPLIED FUNCTIONS

7.10 Multiple CPU Advanced Synchronous Control 171
 APPENDICES
Appendix 1 Sample Program of Synchronous
Control
The following shows a sample program of executing synchronous control on the axis 1 with the command generation axis 4 of
R16MTCPU as an input axis.

1. Set MR-J4(W)-B on the axis 1 in the servo network setting.

Item Setting value

Amplifier information Amplifier model MR-J4(W)-B(-RJ)
Amplifier operation mode Standard
Axis information Axis No. 1
Station No.d 1

2. Set the axis 4 in the command generation axis parameter of synchronous control parameter.

Item Axis 4
Command generation axis Valid setting 1: Valid
Unit setting 2: degree
JOG speed limit value 72000.000degree/min

APPENDICES APPENDIX
172 Appendix 1 Sample Program of Synchronous Control
3. Create the cam data (cam No.1).

Section No. Start angle [degree] End angle [degree] Stroke [%] Cam curve
1 0.00000 90.00000 100.0000000 Constant speed
2 90.00000 270.00000 -60.0000000 Constant speed
3 270.00000 0.00000 50.0000000 Constant speed

4. Set the synchronous parameter of the axis 1.

Item Setting value

Synchronous control Main shaft Main input axis Type 201: Command generation axis
module setting
Axis No. 4
Output axis Cam axis cycle unit Cam axis length per cycle 360.00000degree
Cam stroke amount 100000pulse
Cam No. 1

APPENDICES APPENDIX
Appendix 1 Sample Program of Synchronous Control 173
 5. Create the Motion SFC program to start synchronous control. (Executed after home position return completion)

sync_ax1

[F0]
SET M2042 //All axes servo ON

[G0]
M2415*!M2001
//Axis 1 servo ready ON, start accept flag OFF?

[F1]
SET M12000 //Axis 1 Synchronous control start

[G1]
M100*M10880
//M100 ON and axis 1 during synchronous control?

[F2]
D14692L=72000000
//Command generation axis JOG speed=
72000.000degree/min
SET M11022
//Command generation axis 4 forward rotation JOG ON

[G2]
!M100 //M100 OFF? (Synchronous control stop)

[F3]
RST M11022
//Command generation axis 4 forward rotation JOG OFF

[G3]
!M9870
//Command generation axis 4 start accept flag OFF?

[F4]
RST M12000 //Axis 1 synchronous control stop

[G0]
M2415*!M2001
//Axis 1 servo ready ON, start accept flag OFF?

END

APPENDICES APPENDIX
174 Appendix 1 Sample Program of Synchronous Control
Appendix 2 Advanced Synchronous Control Device
List A

Synchronous control system control data

Symbol Setting item Device No. Reference
Rq.380 Synchronous control start M12000+n Page 21 Synchronous control system control data
Rq.381 Synchronous analysis request M12032+n

Synchronous control system monitor data

Symbol Setting item Device No. Reference
St.380 Synchronous control M10880+n Page 21 Synchronous control system monitor data
St.381 Synchronous analysis complete M10912+n

Servo input axis parameters

Symbol Setting item Device No. Reference
Pr.300 Servo input axis type  Page 31 Servo input axis parameters
St.301 Servo input axis smoothing time constant 
Pr.302 Servo input axis phase compensation advance time D14600+2n
D14601+2n
Pr.303 Servo input axis phase compensation time constant 
Pr.304 Servo input axis rotation direction restriction 

Servo input axis monitor data

Symbol Setting item Device No. Reference
Md.300 Servo input axis current value D12280+10n Page 34 Servo input axis monitor data
D12281+10n
Md.301 Servo input axis speed D12282+10n
D12283+10n
Md.302 Servo input axis phase compensation amount D12284+10n
D12285+10n
Md.303 Servo input axis rotation direction restriction amount D12286+10n
D12287+10n

Command generation axis parameters

Symbol Setting item Device No. Reference
Pr.340 Command generation axis valid setting  Page 39 Command generation axis parameters
Pr.341 Command generation axis unit setting 
Pr.342 Command generation axis upper stroke limit 
Pr.343 Command generation axis lower stroke limit 
Pr.344 Command generation axis command in-position range 
Pr.345 Command generation axis speed control 10multiplier setting 
for degree axis
Pr.346 Command generation axis length per cycle 
Pr.347 Command generation axis JOG speed limit value 
Pr.348 Command generation axis JOG operation parameter block D14682+4n
setting
Pr.349 Command generation axis acceleration/deceleration time Optional device
change enable device
Pr.350 Command generation axis new acceleration time value device Optional device
Pr.351 Command generation axis new deceleration time value device Optional device
Pr.352 Command generation axis ABS direction in degrees device Optional device
Pr.353 Command generation axis override ratio setting device Optional device

APPENDICES APPENDIX
Appendix 2 Advanced Synchronous Control Device List 175
 Command generation axis control data
■Word device
Symbol Setting item Device No. Reference
Cd.340 Command generation axis JOG speed setting D14680+4n Page 43 Command generation axis control data (Word
D14681+4n device)

■Bit device
Symbol Setting item Device No. Reference
Rq.341 Command generation axis stop command M10960+20n Page 43 Command generation axis control data (Bit
device)
Rq.342 Command generation axis rapid stop command M10961+20n
Rq.343 Command generation axis forward rotation JOG start command M10962+20n
Rq.344 Command generation axis reverse rotation JOG start command M10963+20n
Rq.345 Command generation axis complete signal OFF command M10964+20n
Rq.346 Command generation axis error reset command M10967+20n
Rq.347 Feed current value update request command M10972+20n
Rq.348 Command generation axis FIN signal M10979+20n

Command generation monitor data

■Word device
Symbol Setting item Device No. Reference
Md.340 Command generation axis feed current value D12600+20n Page 45 Command generation axis monitor data
D12601+20n (Word device)
Md.341 Command generation axis warning code D12602+20n
Md.342 Command generation axis error code D12603+20n
Md.343 Command generation axis execute program No. D12604+20n
Md.344 Command generation axis M-code D12605+20n
Md.345 Command generation axis accumulative current value D12606+20n
D12607+20n
Md.346 Command generation axis data set pointer for continuous D12609+20n
trajectory control
Md.347 Command generation axis current value per cycle D12610+20n
D12611+20n
Md.348 Command generation axis command speed D12612+20n
D12613+20n

■Bit device
Symbol Setting item Device No. Reference
St.340 Command generation axis positioning start complete M9800+20n Page 47 Command generation axis monitor data (Bit
device)
St.341 Command generation axis positioning complete M9801+20n
St.342 Command generation axis command in-position M9803+20n
St.343 Command generation axis speed controlling M9804+20n
St.344 Command generation axis error detection M9807+20n
St.345 Command generation axis start accept flag M9810+20n
St.346 Command generation axis speed change accepting flag M9811+20n
St.347 Command generation axis speed change "0" accepting flag M9812+20n
St.348 Command generation axis automatic decelerating flag M9813+20n
St.349 Command generation axis M-code outputting M9819+20n

APPENDICES APPENDIX
176 Appendix 2 Advanced Synchronous Control Device List
Synchronous encoder axis parameters
Symbol Setting item Device No. Reference A
Pr.320 Synchronous encoder axis type  Page 60 Synchronous encoder axis parameters
Pr.321 Synchronous encoder axis unit setting 
Pr.322 Synchronous encoder axis unit conversion: Numerator 
Pr.323 Synchronous encoder axis unit conversion: Denominator 
Pr.324 Synchronous encoder axis length per cycle 
Pr.325 Synchronous encoder axis smoothing time constant 
Pr.326 Synchronous encoder axis phase compensation advance time D14820+10n
D14821+10n
Pr.327 Synchronous encoder axis phase compensation time constant 
Pr.328 Synchronous encoder axis rotation direction restriction 
Pr.329 Resolution of synchronous encoder via device 
Pr.331 I/O number 
Pr.332 Channel number 

Synchronous encoder axis control data

■Word device
Symbol Setting item Device No. Reference
Cd.320 Synchronous encoder axis control start condition D14822+10n Page 66 Synchronous encoder axis control data (Word
device)
Cd.321 Synchronous encoder axis control method D14823+10n
Cd.322 Synchronous encoder axis current value setting address D14824+10n
D14825+10n
Cd.325 Input value for synchronous encoder via device D14826+10n
D14827+10n

■Bit device
Symbol Setting item Device No. Reference
Rq.323 Synchronous encoder axis error reset M11600+4n Page 67 Synchronous encoder axis control data (Bit
device)
Rq.320 Synchronous encoder axis control request M11601+4n
Rq.324 Connection command of synchronous encoder via device/ M11602+4n
master CPU

Synchronous encoder axis monitor data

■Word device
Symbol Setting item Device No. Reference
Md.320 Synchronous encoder axis current value D13240+20n Page 69 Synchronous encoder axis monitor data
D13241+20n (Word device)
Md.321 Synchronous encoder axis current value per cycle D13242+20n
D13243+20n
Md.322 Synchronous encoder axis speed D13244+20n
D13245+20n
Md.323 Synchronous encoder axis phase compensation amount D13246+20n
D13247+20n
Md.324 Synchronous encoder axis rotation direction restriction amount D13248+20n
D13249+20n
Md.327 Synchronous encoder axis warning code D13250+20n
Md.326 Synchronous encoder axis error code D13251+20n

APPENDICES APPENDIX
Appendix 2 Advanced Synchronous Control Device List 177
 ■Bit device
Symbol Setting item Device No. Reference
St.320 Synchronous encoder axis setting valid flag M10440+10n Page 71 Synchronous encoder axis monitor data (Bit
device)
St.321 Synchronous encoder axis connecting valid flag M10441+10n
St.322 Synchronous encoder axis counter enable flag M10442+10n
St.323 Synchronous encoder axis current value setting request flag M10443+10n
St.324 Synchronous encoder axis error detection flag M10444+10n
St.325 Synchronous encoder axis control complete flag M10446+10n

Synchronous parameter
Symbol Setting item Device No. Reference
Pr.400 Main shaft Main input axis No. D15000+150n Page 83 Main shaft parameters
Pr.401 Sub input axis No. D15001+150n
Pr.402 Composite main shaft gear D15002+150n
Pr.403 Main shaft gear: Numerator D15004+150n
D15005+150n
Pr.404 Main shaft gear: Denominator D15006+150n
D15007+150n
Pr.405 Main shaft clutch control setting D15008+150n Page 85 Main shaft clutch parameters
Pr.406 Main shaft clutch reference address setting D15009+150n
Pr.407 Main shaft clutch ON address D15010+150n
D15011+150n
Pr.408 Travel value before main shaft clutch ON D15012+150n
D15013+150n
Pr.409 Main shaft clutch OFF address D15014+150n
D15015+150n
Pr.410 Travel value before main shaft clutch OFF D15016+150n
D15017+150n
Pr.411 Main shaft clutch smoothing method D15018+150n
Pr.412 Main shaft clutch smoothing time constant D15019+150n
Pr.413 Slippage amount at main shaft clutch ON D15020+150n
D15021+150n
Pr.414 Slippage amount at main shaft clutch OFF D15022+150n
D15023+150n
Pr.418 Auxiliary Auxiliary shaft axis No. D15024+150n Page 91 Auxiliary shaft parameters
Pr.419 shaft Composite auxiliary shaft gear D15025+150n
Pr.420 Auxiliary shaft gear: Numerator D15026+150n
D15027+150n
Pr.421 Auxiliary shaft gear: Denominator D15028+150n
D15029+150n
Pr.422 Auxiliary shaft clutch control setting D15030+150n Page 93 Auxiliary shaft clutch parameters
Pr.423 Auxiliary shaft clutch reference address setting D15031+150n
Pr.424 Auxiliary shaft clutch ON address D15032+150n
D15033+150n
Pr.425 Travel value before auxiliary shaft clutch ON D15034+150n
D15035+150n
Pr.426 Auxiliary shaft clutch OFF address D15036+150n
D15037+150n
Pr.427 Travel value before auxiliary shaft clutch OFF D15038+150n
D15039+150n
Pr.428 Auxiliary shaft clutch smoothing method D15040+150n
Pr.429 Auxiliary shaft clutch smoothing time constant D15041+150n
Pr.430 Slippage amount at auxiliary shaft clutch ON D15042+150n
D15043+150n
Pr.431 Slippage amount at auxiliary shaft clutch OFF D15044+150n
D15045+150n

APPENDICES APPENDIX
178 Appendix 2 Advanced Synchronous Control Device List
Symbol Setting item Device No. Reference
Pr.434 Speed Speed change gear 1 D15046+150n Page 111 Speed change gear parameters
Pr.435
change gear
Speed change gear 1 smoothing time constant D15047+150n A
Pr.436 Speed change ratio 1: Numerator D15048+150n
D15049+150n
Pr.437 Speed change ratio 1: Denominator D15050+150n
D15051+150n
Pr.490 Speed change gear 2 D15052+150n
Pr.491 Speed change gear 2 smoothing time constant D15053+150n
Pr.492 Speed change ratio 2: Numerator D15054+150n
D15055+150n
Pr.493 Speed change ratio 2: Denominator D15056+150n
D15057+150n
Pr.438 Output axis Cam axis cycle unit setting D15058+150n Page 115 Cam axis cycle units
Pr.439 Cam axis length per cycle D15060+150n
D15061+150n
Pr.440 Cam No. D15062+150n
Pr.441 Cam stroke amount D15064+150n
D15065+150n
Pr.442 Cam axis length per cycle change setting D15059+150n
Pr.444 Cam axis phase compensation advance time D15066+150n
D15067+150n
Pr.445 Cam axis phase compensation time constant D15068+150n
Pr.448 Synchronous control parameter block No. D15069+150n
Pr.447 Output axis smoothing time constant D15070+150n
Pr.460 Synchronous Setting method of current value per cycle after D15100+150n Page 141 Synchronous Control Initial Position
control Initial main shaft gear Parameters
position
Pr.461 Setting method of current value per cycle after D15101+150n
auxiliary shaft gear
Pr.462 Cam axis position restoration object D15102+150n
Pr.463 Setting method of cam reference position D15103+150n
Pr.464 Setting method of cam axis current value per D15104+150n
cycle
Pr.465 Current value per cycle after main shaft gear D15106+150n
(Initial setting) D15107+150n
Pr.466 Current value per cycle after auxiliary shaft D15108+150n
gear (Initial setting) D15109+150n
Pr.467 Cam reference position (Initial setting) D15110+150n
D15111+150n
Pr.468 Cam axis current value per cycle (Initial D15112+150n
setting) D15113+150n

Control Data for Synchronous Control

■Bit device
Symbol Setting item Device No. Reference
Rq.400 Main shaft Main shaft clutch command M11680+10n Page 90 Main shaft clutch control data
Rq.401 Main shaft clutch control invalid command M11681+10n
Rq.402 Main shaft clutch forced OFF command M11682+10n
Rq.403 Auxiliary Auxiliary shaft clutch command M11684+10n Page 98 Auxiliary shaft clutch control data
shaft
Rq.404 Auxiliary shaft clutch control invalid command M11685+10n
Rq.405 Auxiliary shaft clutch forced OFF command M11686+10n
Rq.406 Synchronous Control change request command M11688+10n Page 120 Synchronous control change control data
control (Bit device)
change

APPENDICES APPENDIX
Appendix 2 Advanced Synchronous Control Device List 179
 ■Word device
Symbol Setting item Device No. Reference
Cd.407 Synchronous Synchronous control change command D15130+150n Page 121 Synchronous control change control data
control (Word device)
Cd.408 Synchronous control change value D15132+150n
change
D15133+150n
Cd.409 Synchronous control reflection time D15131+150n

Synchronous Control Monitor Data

■Word device
Symbol Setting item Device No. Reference
Md.400 Current value after composite main shaft gear D13600+30n Page 125 Synchronous Control Monitor Data (Word
D13601+30n device)
Md.401 Current value per cycle after main shaft gear D13602+30n
D13603+30n
Md.402 Current value per cycle after auxiliary shaft gear D13604+30n
D13605+30n
Md.406 Cam axis phase compensation amount D13610+30n
D13611+30n
Md.407 Cam axis current value per cycle D13612+30n
D13613+30n
Md.408 Cam reference position D13614+30n
D13615+30n
Md.409 Cam axis current feed value D13616+30n
D13617+30n
Md.410 Execute cam No. D13618+30n
Md.411 Execute cam stroke amount D13620+30n
D13621+30n
Md.412 Execute cam axis length per cycle D13622+30n
D13623+30n
Md.422 Main shaft clutch slippage (accumulative) D13606+30n
D13607+30n
Md.425 Auxiliary shaft clutch slippage (accumulative) D13608+30n
D13609+30n

■Bit device
Symbol Setting item Device No. Reference
St.420 Main shaft clutch ON/OFF status M10560+10n Page 128 Synchronous Control Monitor Data (Bit
device)
St.421 Main shaft clutch smoothing status M10561+10n
St.423 Auxiliary shaft clutch ON/OFF status M10562+10n
St.424 Auxiliary shaft clutch smoothing status M10563+10n
St.426 Synchronous Control change complete M10566+10n Page 120 Synchronous control change control data
Control (Bit device)
Change

APPENDICES APPENDIX
180 Appendix 2 Advanced Synchronous Control Device List
MEMO
A

APPENDICES APPENDIX
Appendix 2 Advanced Synchronous Control Device List 181
 REVISIONS
* The manual number is given on the bottom left of the back cover
Revision date *Manual number Description
June 2014 IB(NA)-0300243-A First edition
March 2015 IB(NA)-0300243-B ■Added functions
ABS direction in degrees, Clutch smoothing slippage method (Linear: Input value follow up) , Multiple CPU
advanced synchronous control
■Added or modified parts
SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, Section 1.2, 3.1, 4.2, 4.3, 6.1, 6.2, 6.3, 6.7, 7.2,
7.3, 7.4, 7.10, Appendix 1, Appendix 2
June 2015 IB(NA)-0300243-C ■Added or modified parts
TERMS, Section 2.1, 4.2, Appendix 2

Japanese manual number: IB-0300242-C

This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held
responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2014 MITSUBISHI ELECTRIC CORPORATION

182
WARRANTY
Please confirm the following product warranty details before using this product.
1. Gratis Warranty Term and Gratis Warranty Range
If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product
within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service
Company.
However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at
the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing
on-site that involves replacement of the failed module.
[Gratis Warranty Term]
The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place.
Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months, and
the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair
parts shall not exceed the gratis warranty term before repairs.
[Gratis Warranty Range]
(1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which
follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels on the
product.
(2) Even within the gratis warranty term, repairs shall be charged for in the following cases.
1. Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused
by the user's hardware or software design.
2. Failure caused by unapproved modifications, etc., to the product by the user.
3. When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions
or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by
industry standards, had been provided.
4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the
instruction manual had been correctly serviced or replaced.
5. Failure caused by external irresistible forces such as fires or abnormal voltages, and Failure caused by force
majeure such as earthquakes, lightning, wind and water damage.
6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.
7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.
2. Onerous repair term after discontinuation of production
(1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.
(2) Product supply (including repair parts) is not available after production is discontinued.
3. Overseas service
Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA
Center may differ.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation of damages caused by any cause
found not to be the responsibility of Mitsubishi, loss in opportunity, lost profits incurred to the user by Failures of
Mitsubishi products, special damages and secondary damages whether foreseeable or not, compensation for accidents,
and compensation for damages to products other than Mitsubishi products, replacement by the user, maintenance of
on-site equipment, start-up test run and other tasks.
5. Changes in product specifications
The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.

183
 TRADEMARKS
Microsoft, Windows, Windows Vista, Windows NT, Windows XP, Windows Server, Visio, Excel, PowerPoint, Visual Basic,
Visual C++, and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States, Japan,
and other countries.
Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and other countries.
Ethernet is a registered trademark of Xerox Corp.
The SD and SDHC logos are either registered trademarks or trademarks of SD-3C, LLC.
All other company names and product names used in this manual are either trademarks or registered trademarks of their
respective companies.

184
IB(NA)-0300243-C(1506)MEE
MODEL: RMT-P-ADV-E
MODEL CODE: 1XB010

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.

Specifications subject to change without notice.