Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 64

■Restrictions
• "[Cd.325] Input value for synchronous encoder via CPU" is taken every operation cycle, but it is asynchronous with the
scan time of the CPU module. Therefore, speed fluctuation of the synchronous encoder axis becomes larger if the refresh
cycle of "[Cd.325] Input value for synchronous encoder via CPU" becomes long. Update "[Cd.325] Input value for
synchronous encoder via CPU" in a cycle less than the operation cycle or use smooth speed fluctuation with the smoothing
function.
• 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 movement amount on disconnection.
Setting value of "[Pr.329]
Resolution of synchronous
encoder via CPU"
1 or more
0 or less
*1 If the resolution of a synchronous encoder via CPU is an odd number, round down a negative value after the decimal point, round up a
positive value after decimal point.
When using an incremental synchronous encoder
When using an incremental synchronous encoder, connect the encoder with the high-speed counter module, then import the
incremental synchronous encoder data.
Set "[Pr.320] Synchronous encoder axis type" to "201: Synchronous encoder via CPU".
For details of the high-speed counter module, refer to the following manual.
MELSEC iQ-R High-Speed Counter Module User's Manual (Startup)
MELSEC iQ-R High-Speed Counter Module User's Manual (Application)
For the detailed settings of the synchronous encoder via CPU, refer to the following.
Page 61 Synchronous encoder via CPU (Synchronous encoder via CPU module)
Motion module
2 INPUT AXIS MODULE
62
2.3 Synchronous Encoder Axis
Range of restored synchronous encoder current value
-(Resolution of synchronous encoder via CPU / 2) to (Resolution of synchronous encoder via CPU / 2 - 1)[pulse]
-2147483648 to 2147483647[pulse]
RD62P2
Axis 1 Axis 2 Axis 3
INC synchronous
encoder
Synchronous encoder
axis 4
*1