Mitsubishi Electric CR750-D Series Instruction Manual page 121

12.2.
Scene of changing parameter
When the tracking function is used, the parameter need to be changed depends on operation phase. List of the
parameter is shown as follow.
No. Operation phase
Power on
1 Setting origin
JOG operation
Attach option
Connection with
peripherals
2
3
In case of robot
programming
4
Table 12-2 List of the user scene of changing parameter
Model
CR750-Q CR750-D
CR751-Q CR751-D
- -
● -
● ●
● ●
Parameter
Example
name
- -
ENCUNIT1 0, 5
ENCUNIT2 -1, 0
ENCUNIT3 -1, 0
TRMODE 1
1, 2,
3, 1,
EXTENC
2, 3,
1, 2
Explanation
It is set to have installed
Q173DPX unit into 5 I/O
slot of the base unit.
By setting it, incremental
three encoders connected
with Q173DPX unit are
recognized physical encoder
number 1 to 3.
It makes tracking function
valid.
By being valid, incremental
encoder value can be got.
About EXTENC, because
initial value is 1,2,1,2,1,2,1,2,
physical encoder number 1
and 2 are allocated to logic
encoder(physical encoder
number3) number 1 to 8. At
this time, the encoder
connected with CH3 of
Q173DPX unit is not
allocated to logic encoder
number. So by changing this
parameter to 1,2,3,1,2,3,1,2,
the encoder of CH3 is
allocated to logic encoder
number 3 and 6.
Also it is possible in
following case. 3 pcs encoder
are connected with Q173DPX
unit and attach each encoder
to conveyer 1 to 3. If
conveyer1 connect to
encoder3, conveyer 3
connect to encoder 1, it is not
effective to change encoder,
so by changing this
parameter to 3,2,1,3,2,1,1,2,
encoder attached with
conveyer 1 becomes logic
encoder1.
Scene of changing parameter 12-111
12 Appendix