Mitsubishi Electric MELSEC iQ-R RD78G4 - Setting Method for Synchronous Encoder

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2 INPUT AXIS MODULE
2.3 Synchronous Encoder Axis
Setting method for synchronous encoder
Synchronous encoder via servo amplifier
■Setting method
Used to use a synchronous encoder connected to the servo amplifier which supports the scale measurement mode as a
synchronous encoder axis.
To use the scale measurement function, set the following CiA402 objects automatically to the PDO mapping. Refer to the
following manual for details of each object.
MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)
• Scale cycle counter (Obj. 2D36H)
• Scale ABS counter (Obj. 2D37H)
• Scale measurement encoder reception status (Obj. 2D3CH)
The following servo amplifiers can be used. For servo amplifiers that support the scale measurement function, refer to the
servo amplifier manual.
•MR-J5-_G_
• MR-J5-_G_-RJ
• MR-J5D_-_G_
• When the Add-on SimpleMotion version is "Ver.1.30" or earlier, do not use encoders other than the rotary
encoders (HK-KT, HK-MT).
• When the Add-on SimpleMotion version is "Ver.1.31" or later, do not use encoders other than the following.
- Rotary encoders (HK-KT, HK-MT)
- Linear encoders (incremental type)
- Linear encoders A/B/Z-phase differential output type (incremental type)
- Rotary encoders A/B/Z-phase differential output type (incremental type)
A synchronous encoder connected to the specified servo amplifier axis can be used by the following settings.
*1 The range from axis 1 to 4 is valid in the 4-axis module, from axis 1 to 8 is valid in the 8-axis module, and from axis 1 to 16 is valid in the
16-axis module.
When "1: Used in absolute position detection system" is set in the servo parameter "Scale measurement function selection
(PA22.3)", the synchronous encoder axis position value and the synchronous encoder axis position value per cycle are
restored after the servo amplifier axis is connected. Therefore, connection becomes valid, and the counter is enabled.
Setting item Setting method Setting method of Simple Motion Module
Setting Function
Synchronous encoder
axis setting
Set "101 to 116: Synchronous encoder via servo amplifier (Connectable
servo amplifier: axis 1 to axis 16
*1
)" in "[Pr.320] Synchronous encoder
axis type".
Set the synchronous encoder axis parameter according
to the setting below.
• [Pr.320] Type
101: Synchronous encoder via servo amplifier
• [Pr.320] Axis No. of connected servo amplifier
Axis No. of servo amplifier to connect
Encoder type setting
(Absolute/Incremental)
To enable the scale measurement function in MR-J5-_G_, MR-J5-_G_-
RJ, or MR-J5D_-_G_, set the servo parameter "Scale measurement
mode selection (PA22.3)" according to the setting below before
connecting to the Motion module.
0: Disabled (initial value)
1: Used in absolute position detection system
2: Used in incremental system
Refer to the servo amplifier manual for the parameter details and scale
measurement encoder connection method.

Encoder resolution
setting
Set 0.
If other than 0 is set while the A/B/Z-phase differential output type rotary
encoder is used, the synchronous encoder axis position value and the
synchronous encoder axis position value per cycle may change
suddenly. For details, refer to the precautions.
