Sensing Module Functions (Axis Mode) - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Sensing module functions (axis mode)

Positioning control of pulse command interface stepping motor drivers etc. is possible when using the sensing pulse I/O
module in axis mode. When the sensing pulse I/O module is used in axis mode, the functions and operations differ to when a
servo amplifier is used. This section describes the functions/operations that differ from when a servo amplifier is used. For
items that are not described, refer to MELSEC iQ-R Motion Controller User's Manual, and the Programming Manuals.
Sensing pulse I/O module settings
The settings for using the sensing pulse I/O module in axis mode are shown below.
■Connected station No. setting
Set the station No. with the station selection rotary switch (SW1 and SW2) of the sensing SSCNET/H head module.
Refer to the following for how to set the station selection rotary switch.
Sensing Module Instruction Manual
■Axis setting of connected axis
Set the number of axes with motors to be connected with the mode select switch (SW1) of the sensing pulse I/O module.
Refer to the following for how to set the mode select switch.
Sensing Module Instruction Manual
■Parameter setting
Set the parameters for when the sensing pulse I/O module is used in axis mode. For details, refer to sensing module
parameters. (Page 206 Sensing module parameters)
Make sure the sensing pulse I/O module settings and servo network settings are matched. If they do not
match, the connected axes of the sensing pulse I/O module do not start up normally.
Feedback pulse input settings and current position follow-up
Set the feedback pulse input to valid/invalid. With this setting, the current position follow-up operation is different at servo
OFF.
■When feedback pulse input is valid
The current position of the Motion CPU is created with the feedback pulse of the sensing pulse I/O module. Current position
can be followed-up during servo OFF.
■When feedback pulse is invalid
The current position of the Motion CPU is the same as the Motion CPU command position. Current position can not be
followed-up during servo OFF, therefore perform a home position return for every servo ON.
In order to enable current position follow-up, make sure that the output pulses and input pulses of the sensing
pulse I/O module match the running axes over the same movement amount. If they do not match, the follow-
up function does not work correctly and a discrepancy occurs with the command position and actual position.
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.7 Connection of Sensing Module
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