Mitsubishi Electric MELSEC iQ-R Series User Manual page 45

Synchronous encoder via CPU (Synchronous encoder via CPU module)
■Setting method
Used to operate a gray code encoder that is connected to the input module of the CPU module as a synchronous encoder
axis.
By setting "201: Synchronous encoder via CPU" 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 CPU".
The encoder value can be used as a cycle counter within the range from 0 to (Resolution of synchronous encoder via CPU -
1).
Connection is invalid just after the system's power supply is ON. When "1" is set in "[Cd.324] Connection command of
synchronous encoder via CPU", the synchronous encoder axis position value and the synchronous encoder axis position
value per cycle are restored based on "[Cd.325] Input value for synchronous encoder via CPU". 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 CPU" while it is connecting.
■Setting example
The following shows an example for setting a synchronous encoder via CPU as synchronous encoder axis 4 of the Simple
Motion module.
(Resolution of the gray code encoder: 4096 pulses/rev)
RD77MS
RD77MS4
RUN ERR
3 1
AX AX
4 2
Set "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis type" of synchronous encoder axis 4.
Set "4096" in "[Pr.329] Resolution of synchronous encoder via CPU" of synchronous encoder axis 4.
Read the encoder value of the gray code encoder with a program, and update "[Cd.325] Input value for synchronous encoder
via CPU" of the synchronous encoder axis 4 at every time.
Input
module
Axis 1 Axis 2 Axis 3
2.2 Synchronous Encoder Axis
Gray code
encoder
Synchronous encoder axis 4
2 INPUT AXIS MODULE
2
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