Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 70

[Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder
Axis Parameter]
Window
• Set the servo parameters of RIO axis 603 to connect the sensing encoder I/F module and synchronous encoder. Set the
servo parameters while referring to the manual of the sensing module. Refer to the following for details.
Sensing Module Instruction Manual
• Set the RIO axis No. (601 to 608) set in the amplifier setting for connected axis No.
• Turn ON the Multiple CPU system power supply and the sensing module control circuit power supply again
to validate the set parameter settings in the sensing module.
• When using a SSI serial communication compatible encoder, the data update cycle differs according to the
servo parameter settings. When "Motion operation cycle < data update cycle", data is not updated every
operation cycle. Set the operation cycle in [Motion CPU Common Parameter]  [Basic Setting] 
"Operation Cycle", or change the data update cycle so that "Motion operation cycle ≥ data update cycle".
Refer to the following for details of data update cycle.
Sensing Module Instruction Manual
■Restrictions
• In the following cases, a moderate error (error code: 30D1H) occurs.
• When the sensing extension module set to connected axis No. of the synchronous encoder via sensing module is not a sensing encoder I/F module.
• When the channel No. set to "[Pr.332] Channel number" of the synchronous encoder via sensing module is set to "0: Disable (not use)" in servo parameter
"Encoder I/F input - CH. A function selection(PTE009)(Encoder I/F - CH.A valid/invalid selection)", or "Encoder I/F input - CH. B function
selection(PTE065)(Encoder I/F - CH.B valid/invalid selection)".
• In the following cases a servo error (AL.16, AL.70) occurs.
• When the encoder set to servo parameter "Encoder protocol selection (CH.A/CH.B common setting)(PTE001)(Encoder protocol selection)", and the
encoder connected to the sensing encoder I/F module are different.
• When a different encoder communication I/F is used for CH.A and CH.B in the encoder signal input connector (CN1/CN2).
• When an encoder communication I/F that is not compatible is connected to the encoder signal input connector (CN1/CN2).
• When the Motion CPU is connected while the sensing encoder I/F module and encoder are not connected.
• Encoder signal input connectors CN1 and CN2 of a sensing encoder I/F module can not be used simultaneously. Use one
or the other.
• When using both CH.A and CH.B, if an error occurs in one channel, the operation of the other channel also stops.
• The following SSI serial communication compatible encoders may input an unintended input pulse from the synchronous
encoder and therefore should not be set as synchronous encoder axes.
• When "0: No conversion" has been set to servo parameters "CH. A function setting 1 at SSI selection (PTE037)(Code conversion function setting)" and
"CH. B function setting 1 at SSI selection (PTE093)(Code conversion function setting)" .
• A multi-turn encoder without a 2n resolution per revolution.
4 INPUT AXIS MODULE
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4.3 Synchronous Encoder Axis