Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 75

[Md.322] Synchronous encoder axis speed
The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units (Page 57 Synchronous
encoder axis speed units).
If the speed for a synchronous encoder axis exceeds the monitor range (Page 55 Overview of synchronous encoder
axis), "Input axis speed display over" (warning code: 0E42H) will occur. In this case, reduce the number of decimal places for
the speed in "[Pr.321] Synchronous encoder axis unit setting" or set the speed time units to "0: second[s]".
[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 56 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 56 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 Position 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 69 Synchronous
encoder axis control data)
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
enabled.
*1
If the counter enable control is executed, it is turned ON, and input from the synchronous encoder becomes enabled.
When the connection of the synchronous encoder is enabled, the initial status is ON (enable) status.
This flag turns ON when a synchronous encoder axis position value change is never executed.
If the position value setting request flag is ON for the synchronous encoder connection, the synchronous encoder axis
position value starts counting with 0. This flag turns OFF when a synchronous encoder axis position 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
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.
2.3 Synchronous Encoder Axis
2 INPUT AXIS MODULE
2
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