Mitsubishi Electric R32MTCPU Programming Manual page 53

Synchronous encoder axis type
The following 6 types of synchronous encoders can be used for the synchronous encoder axis.
Refer to setting method for synchronous encoder for the setting method for each synchronous encoder axis. (Page 53
Setting method for synchronous encoder)
Synchronous encoder axis type
Via module
Via servo amplifier
Via device
Multiple CPU Master CPU servo input axis
advanced
Master CPU command
synchronous
generation axis
*2
control
Master CPU synchronous
encoder axis
*1 Use software version B0 or later for the servo amplifier (MR-J4-B-RJ) which connects the synchronous encoder.
*2 Can be set when operating as a slave CPU in a Multiple CPU advanced synchronous control configuration. (Multiple CPU
Advanced Synchronous Control)
Control method for synchronous encoder axis
The following controls can be executed for the synchronous encoder axis by using "[Rq.320] Synchronous encoder axis
control request (M11601+4n)" and "[Cd.321] Synchronous encoder axis control method (D14823+10n)".
Setting value of "[Cd.321]
Synchronous encoder axis
control method (D14823+10n)"
0: Current value change
1: Counter disable
2: Counter enable
Units for the synchronous encoder axis
The position units and speed units for the synchronous encoder axis are shown below for the setting of "[Pr.321] Synchronous
encoder axis unit setting".
■Synchronous encoder axis position units
Setting value of "[Pr.321] Synchronous encoder axis
unit setting"
Control unit
0: mm
1: inch
2: degree
3: pulse
Details
The encoder value is acquired via a module controlled by Motion CPU.
Used to operate an encoder that is connected to a high-speed counter module, etc. as the synchronous
encoder axis.
The serial absolute synchronous encoder (Q171ENC-W8) and absolute/incremental scale connected to
CN2L of the servo amplifier (MR-J4-B-RJ)
The encoder value is loaded via Motion CPU device.
Used to operate a gray code encoder that is connected to the input module as the synchronous encoder
axis.
Used to operate the servo input axis of the master CPU (axis 1 to axis 32) as the synchronous encoder axis.
Used to operate the command generation axis of the master CPU (axis 1 to axis 32) as the synchronous
encoder axis.
Used to operate the synchronous encoder axis of the master CPU (axis 1 to axis 12) as the synchronous
encoder axis.
Control details
"[Md.320] Synchronous encoder axis current value (D13240+20n, D13241+20n)" and "[Md.321] Synchronous
encoder axis current value per cycle (D13242+20n, D13243+20n)" are changed based on the setting of "[Cd.322]
Synchronous encoder axis current value setting address (D14824+10n, D14825+10n)".
Input from the synchronous encoder is disabled.
Input from the synchronous encoder is enabled.
Synchronous encoder axis
position unit
Number of decimal
places for position
0 mm
 
-9
10
9 mm
0 inch
 
-9
10
9 inch
0 degree
 
-9
10
9 degree
0 pulse
 
-9
10
9 pulse
*1
(Axis 1 to 32) is used as the synchronous encoder axis.
Range
-2147483648 to 2147483647[mm]

-2.147483648 to 2.147483647[mm]
-2147483648 to 2147483647[inch]

-2.147483648 to 2.147483647[inch]
-2147483648 to 2147483647[degree]

-2.147483648 to 2.147483647[degree]
-2147483648 to 2147483647[pulse]

-2.147483648 to 2.147483647[pulse]
4 INPUT AXIS MODULE
4.3 Synchronous Encoder Axis
4
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