Synchronous Encoder Control Change - Mitsubishi Electric Q Series Programming Manual

6 DRIVE MODULE

6.3.2 Synchronous encoder control change

(1) Current value change by the CHGA-E instruction
Example of Motion SFC program for which executes the servo program is shown
below.
Current value change CHGA-E
Current value change
G10
PX000*M2043*M2044*!M2101
K10
CHGA-E
Axis 1 ,
G20
!PX000*!M2101
END
(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.
(a) The current value to change uses the following devices.
• Indirect setting....... Data register (D)
• Direct setting ......... Decimal constant (K)
(b) Precautions
• When the synchronous encoder current value is changed in the real mode,
an error occurs and the current value change is not executed.
• The synchronous encoder current value change can be executed even
during operation in the virtual mode operation (during pulse input from the
synchronous encoder).
When the current value is changed, the synchronous encoder current
value will be continued from the changed value.
• Even if a synchronous encoder current value is changed, it will have no
effect on the output module current value.
(Note-1): The current value change can be executed in real mode for the
version (Refer to Section 1.4) that supports "synchronous encoder
current value monitor in real mode".
Wait until PX000, real mode/virtual mode
switching request and switching status
turn on, and current value changing flag
turns off.
Synchronous encoder axis current value
change control.
20000PLS
Used axis . . . . . . . . . . . . . . . Axis 1
Current value to change. . . . 20000[PLS]
Wait until PX000 and current value changing
flag turns off.
Link register (W)
Motion register (#)
Multiple CPU area device (U \G)
(Note-1)
6 - 23
2 word
(Note-1)