5.3 Description of Function Codes 5.3.9 d codes (Applied functions 2)
Checking the encoder pulse count
Before beginning master-follower operation, be sure to check the encoder pulse count for both the master side and
follower side. If the encoder pulse count is not correctly detected, it will not be possible to perform operation correctly
when performing master-follower operation.
If the encoder pulse count is not correctly detected, it means that the number of motor poles (P01/A15), encoder
pulse count (d15, d60), and pulse scaling factor 1/2 (d16/d17,d62/d63）settings do not match that of the actual
machine configuration.
Check the PG pulse count at “4_15: PG Detected Pulse Count (Command (Master) Side AB-Phase))” and “4_17:
PG Detected Pulse Count (Feedback (Follower Side AB-Phase))” at keypad menu No. 4“I/O Check”. Refer to “3.4.4
Checking the input signal status” in this manual for details on the pulse count display method.
Symbol, calculation formula
Encoder pulse count [P/r]
I/O check 4_15 [kP/s]
I/O check 4_17 [kP/s]
Motor speed [r/s] x Encoder pulse count [P/r]
x Pulse scaling factor 1/2 / 1000
Speed master-follower operation
With speed master-follower operation, master-follower operation is performed in such a way as to keep the
difference in speed between the master side and follower side to 0.
The follower side speed is controlled to ensure that the deviation between the master side pulse frequency and
follower side pulse frequency is 0, but phase difference synchronization is not performed. Furthermore, even if the
speed deviation nears 0, an “SY” synchronization complete signal is not output.
() ()
U,V,W
R,S,T
YA,YB,YZXA,XB,XZU,V,W
C
m
= S
p
=
S
m
=
1
5
1
3
1000P/R2000P/R
C
p
=
1
2
1
4
FRN-G2S
+
OPC-PG
OPC-PG22
6
4
Fig. 5.3-46 Speed synchronization system configuration example (when using gears)
Master side conveyor (forward direction)
Follower side conveyor (forward direction)
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