Mitsubishi Electric RD77MS2 User Manual page 49

[Md.323] Synchronous encoder axis phase compensation amount
The phase compensation amount for a synchronous encoder axis is stored in the synchronous encoder axis position units
(Page 32 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
While the rotation direction is restricted for a synchronous encoder axis, the accumulation for input movement amount in the
opposite direction of the enabled direction is stored in synchronous encoder axis position units (Page 32 Synchronous
encoder axis position units) as follows.
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.325] Synchronous encoder axis status
The each status for a synchronous encoder axis is monitored with the following each bits.
Bit Storage item
b0 Setting valid flag
b1 Connecting valid flag
b2 Counter enable flag
b3 Current value setting
request flag
b4 Error detection flag
b5 Warning detection flag
b6 to b15 Not used
*1 Set the control method for synchronous encoder in "[Cd.321] Synchronous encoder axis control method". (Page 43 Synchronous
encoder axis control data)
[Md.326] Synchronous encoder axis error No.
When an error for a synchronous encoder axis is detected, the error code corresponding to he error details is stored.
If set to "1" in "[Cd.323]Synchronous encoder axis error reset", the value is set to "0".
[Md.327] Synchronous encoder axis warning No.
When a warning for a synchronous encoder axis is detected, the warning code corresponding to the warning details is stored.
If set to "1" in "[Cd.323] Synchronous encoder axis error reset", the value is set to "0".
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.
Storage details
At power supply ON, this flag turns ON when the synchronous encoder axis parameter ([Pr.320] to [Pr.329]) is
normal and the setting of the synchronous encoder axis is valid. It is turned OFF when the setting is invalid or an
error occurs.
When the synchronous encoder axis setting is valid, the synchronous encoder connection also becomes valid and
this flag turns ON. This flag turns OFF when the connection is invalid.
When setting an incremental synchronous encoder, this flag turns ON simultaneously the power supply turns ON
regardless of connecting the current encoder.
This flag turns ON when input from the synchronous encoder is enabled.
*1
If the counter disable control is executed, it is turned OFF, and input from the synchronous encoder becomes
invalid.
*1
If the counter enable control is executed, it is turned ON, and input from the synchronous encoder becomes
valid.
When the synchronous encoder is valid to connect, the initial status is ON (enable) status.
This flag turns ON, when a synchronous encoder axis current value change is never executed.
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.
This flag turns ON when an error occurs for the synchronous encoder axis. The error No. is stored in "[Md.326]
Synchronous encoder axis error No.".
Reset the error in "[Cd.323] Synchronous encoder axis error reset".
This flag turns ON when a warning occurs for the synchronous encoder axis. The warning No. is stored in
"[Md.327] Synchronous encoder axis warning No.".
Reset the warning in "[Cd.323] Synchronous encoder axis error reset".
Always OFF
2 INPUT AXIS MODULE
2.2 Synchronous Encoder Axis
2
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