Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 82

[Md.322] Synchronous encoder axis speed (R: D38564L+32n/Q: D13244L+20n)
The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units. (Page 55 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 (R: D38564+32n, D38565+32n/Q:
D13244+20n, D13245+20n)".
[Md.323] Synchronous encoder axis phase compensation amount (R: D38566L+32n/Q:
D13246L+20n)
The phase compensation amount for a synchronous encoder axis is stored in the synchronous encoder axis position units.
(Page 55 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 (R:
D38568L+32n/Q: D13248L+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 55 Synchronous
encoder axis position units)
Setting value of "[Pr.328] Synchronous encoder axis
rotation direction restriction"
1: Enable only for current value increase direction
2: Enable only for current value decrease direction
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 (R: D38570+32n/Q: 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 (R: M42240+8n/Q: 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 (R: D38571+32n/Q: 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 (R: M42240+8n/Q: M11600+4n)".
Refer to the following for details of error codes.
MELSEC iQ-R Motion controller Programming Manual (Common)
4 INPUT AXIS MODULE
80
4.3 Synchronous Encoder Axis
Storage details
A negative accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.
A positive accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.