Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 56

Synchronous encoder axis type
The following 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 57
Setting method for synchronous encoder)
Synchronous encoder axis type
Via module
Via servo amplifier
Via device
Multiple CPU Master CPU servo input axis
advanced
Master CPU command
synchronous
generation axis
*2
control
Master CPU synchronous
encoder axis
Via sensing module
*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 (R: M42241+8n/Q: M11601+4n)" and "[Cd.321] Synchronous encoder axis control method (R: D42323+16n/
Q: D14823+10n)".
Setting value of "[Cd.321] Synchronous
encoder axis control method (R: D42323+16n/
Q: D14823+10n)"
0: Current value change
1: Counter disable
2: Counter enable
4 INPUT AXIS MODULE
54
4.3 Synchronous Encoder Axis
Details
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.
The following devices connected to the servo amplifier can be used as a synchronous encoder axis.
• Rotary servo motor (HK-KT) connected to a servo amplifier (MR-J5(W)-B)
• Absolute/incremental scale connected to a servo amplifier (MR-J5(W)-B/MR-J4(W)-B)
• Serial absolute synchronous encoder (Q171ENC-W8) connected to CN2L connector of a servo amplifier
*1
(MR-J4-B-RJ) (axis 1 to 32)
• Rotary servo motor (HG-KR, HG-MR) connected to a servo amplifier (MR-J4(W)-B) (axis 1 to 32)
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.
Used to operate the servo input axis of the master CPU (axis 1 to axis 64) as the synchronous encoder axis.
Used to operate the command generation axis of the master CPU (axis 1 to axis 64) as the synchronous
encoder axis.
Used to operate the synchronous encoder axis of the master CPU (axis 1 to axis 12) as the synchronous
encoder axis.
Used to get the position information of the encoder connected to the sensing encoder I/F module (MR-
MT2400) for Motion control.
Control details
"[Md.320] Synchronous encoder axis current value (R: D38560+32n, D38561+32n/ Q:
D13240+20n, D13241+20n)" and "[Md.321] Synchronous encoder axis current value per cycle (R:
D38562+32n, D38563+32n/Q: D13242+20n, D13243+20n)" are changed based on the setting of
"[Cd.322] Synchronous encoder axis current value setting address (R: D42324+16n, D42325+16n/
Q: D14824+10n, D14825+10n)".
Input from the synchronous encoder is disabled.
Input from the synchronous encoder is enabled.