Mitsubishi Electric R32MTCPU Programming Manual page 167

• If "501: Master CPU synchronous encoder axis" in "[Pr.320] Synchronous encoder axis type" is selected.
The change amount of the input pulse to the synchronous encoder on the master CPU is transmitted to the slave CPU.
Also, control by a current value change by "[Rq.320] Synchronous encoder axis control request (D14823+20n)", counter
enable, and counter disable, are not reflected in the change amount that is transmitted.
Master CPU side
[Pr.320] Synchronous encoder axis type
1: Synchronous encoder Pn
101: Synchronous encoder via servo amplifier
201: Via device
Synchronous encoder input
Counter disable/
Counter enable
Unit conversion
Input smoothing
processing
Phase
compensation
on processing
Rotation direction
restriction
Current value
change
Current value of
synchronous
encoder axis
Setting method
Set the input axis of the master CPU in "[Pr.320] Synchronous encoder axis type".
Connection is invalid just after the system's power supply is ON. If "[Rq.324] Connection command of synchronous encoder
via device/master CPU (M11602+4n)" is turned ON, connection becomes valid, "0" is stored in "[Md.320] Synchronous
encoder axis current value (D13240+20n, D13241+20n)", "[Md.321] Synchronous encoder axis current value per cycle
(D13242+20n, D13243+20n)", and will be on the counter enabling status.
At this time, if setting the input axis of the master CPU to current value, execute a current value change.
When the input axis set in "[Pr. 320] Synchronous encoder axis type" is invalid on the master CPU side, or not connected, a
major error (error code: 1825) occurs, and connection becomes invalid.
Match the control unit of "[Pr.321] Synchronous encoder axis unit setting" with the unit settings of the input
axis of the master CPU.
[Md.323] Synchronous encoder
axis phase compensation amount
(D13246+20n, D13247+20n)
[Md.324] Synchronous encoder
axis rotation direction restriction
amount
(D13248+20n, D13249+20n)
[Md.320] Synchronous encoder
axis current value
(D13240+20n, D13241+20n)
[Md.321] Synchronous encoder
axis current value per cycle
(D13242+20n, D13243+20n)
[Md.322] Synchronous encoder
axis speed
(D13244+20n, D13245+20n)
Slave CPU side
[Pr.320] Synchronous encoder axis type
501: Master CPU synchronous encoder axis
Synchronous encoder input
Counter disable/
Counter enable
Unit conversion
Input smoothing
processing
Phase
compensation
on processing
Rotation direction
restriction
Current value
change
Current value of
synchronous
encoder axis
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Multiple CPU Advanced Synchronous Control
[Md.323] Synchronous encoder
axis phase compensation amount
(D13246+20n, D13247+20n)
[Md.324] Synchronous encoder
axis rotation direction restriction
amount
(D13248+20n, D13249+20n)
[Md.320] Synchronous encoder
axis current value
(D13240+20n, D13241+20n)
[Md.321] Synchronous encoder
axis current value per cycle
(D13242+20n, D13243+20n)
[Md.322] Synchronous encoder
axis speed
(D13244+20n, D13245+20n)
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