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APP - 27
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PPENDICES
APPENDIX 1.9 Differences of synchronous encoder
Table 1.9 Differences of synchronous encoder
Item Q170MCPU Q173DCPU/Q172DCPU
Power cycle
The current value immediately
before power supply OFF is stored.
(The travel value is not added in
power supply OFF.)
"0" is stored.
Real mode Updated Backup
Current value storage register
(D1120+10n, D1121+10n)
Virtual mode
Updated
(Note)
(Updated with clutch ON and leading edge of the external input (TREN),
and stopped with clutch OFF.)
Power cycle "0" is stored.
Real mode Backup
Current value after
synchronous encoder axis
main shaft’s differential gear
storage registers
(D1126+10n, D1127+10n)
Virtual mode Updated
Real mode
All errors can be reset regardless of
the error type.
Errors cannot be reset. Error reset command
(M5440+4n)
Virtual mode Errors can be reset according to the mechanical system configuration.
Real mode Executable Not executable Synchronous encoder current
value change CHGA-E
Virtual mode Executable
(Note): The external input clutch can be used in only the synchronous encoder axis of Q173DPX.
(1) Synchronous encoder current value monitor in real mode
The synchronous encoder set in the system setting is updated for every
operation cycle in the current value storage register (D1120+10n, D1121+10n)
regardless of whether or not the synchronous encoder is set in the mechanical
program.
However, the current value after synchronous encoder axis main shaft’s
differential gear storage registers (D1126+10n, D1127+10n) is updated in only
virtual mode.
Refer to this section (4) for the synchronous encoder current value that the
external input clutch is set.
(2) Error reset of the synchronous encoder axis
The error reset command (M5440+4n) can be executed in both of the real mode
and virtual mode.
If the error reset command (M5440+4n) is turned ON when the synchronous
encoder and output module are normal, the minor error code storage register
(D1122+10n) and major error code storage register (D1123+10n) are cleared,
and the error detection signal (M4640+4n) is reset.
(3) Synchronous encoder current value change CHGA-E
The synchronous encoder current value change (CHGA-E) of the synchronous
encoder set in the system setting can be changed regardless of whether or not
the synchronous encoder is set in the mechanical program.