Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 68

Via sensing module
■Setting method
The encoder that is connected to the sensing encoder I/F module (MR-MT2400) is used as a synchronous encoder axis. By
setting "601: Via sensing module" in "[Pr.320] Synchronous encoder axis type", and setting the channel No. (CH.A is "1",
CH.B is "2") of the connector (CN1/CN2) for encoder signal input where the encoder is connected, in "[Pr.332] Channel
number", the position information of the encoder is obtained via the sensing encoder I/F module and controls the synchronous
encoder axis.
When a sensing encoder I/F module with an incremental scale encoder installed is connected, the synchronous encoder axis
connection becomes valid, the initial values of synchronous encoder axis current value and synchronous encoder axis current
value per cycle are set to "0", and the axis is in a counter enabling status.
Refer to the following for details on the encoder communication I/F that can be connected to the sensing encoder I/F module.
Sensing Module Instruction Manual
• Set the encoder communication I/F for connecting to the sensing encoder I/F module in the "Encoder
protocol selection (CH.A/CH.B common setting)(PTE001)" servo parameter. After setting "Encoder protocol
selection (CH.A/CH.B common setting)(PTE001)", set the required parameters according to the connected
encoder communication I/F. Refer to the following for details of servo parameters.
Sensing Module Instruction Manual
• A battery cannot be connected to the sensing encoder I/F module for the purpose of retaining the absolute
position data of the servo amplifier. For this reason, even when an absolute scale encoder is connected, the
Motion CPU operates in the same way as if an incremental scale encoder were connected.
■Setting example
The following shows an example for setting a synchronous encoder via the sensing encoder I/F module (MR-MT2400, RIO
axis 603, channel No. 1), as synchronous encoder axis 1.
R32MTCPU
4 INPUT AXIS MODULE
66
4.3 Synchronous Encoder Axis
Axis 1 Axis 2
Motion sensing module
MR-MT2010+MR-MT2400
RIO axis 603
Synchronous encoder
axis 1