Panasonic AGM1PG04L, Reference Manual

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13.2 Feedback Counter Function
13.2.1 Feedback Counter Function
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Overview of feedback counter function
● The pulse output unit has a function to count pulse signals from an external input such as
encoder at high speed. This function is applied for step out detection by comparing feedback
values with elapsed values.
● The elapsed value and feedback counter value can be read for each axis using the
PG_ReadStatus function block.
● The elapsed value and feedback counter value can be written for each axis using the
PG_SetPosition function block. Writing should be done while the axis operation is stopped.
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Usage restrictions on feedback counter function
The input terminals (terminal numbers A8, B8, A9, B9, A17, B17, A18, B18) are common to the
feedback counter and pulser input.
They cannot be used for the same axis in combination with pulser input operation.
13.2.2 Operation of Feedback Counter
● When the power supply is turned OFF, the counter value is reset to zero (0).
● When home return is completed or an error is cleared (PG_ClearError function block), the
counter value is reset to zero (0).
● If the count value exceeds the maximum (or minimum) value, it returns to the minimum
(maximum) value. The pulse output does not stop if this occurs, and no error occurs.
13.2.3 Feedback Counter Settings
● Settings of the feedback counter can be changed using the "PG_SetPosition" function block.
● When counting the 2-phase input such as the input from the encoder, set the pulse input
transfer multiple to "4 multiple setting" (x 4) or "2 multiple setting" (x 2) using the
Pulse_4Axes parameters to prevent counting error.
13.2 Feedback Counter Function
13-4 WUME-GM1PG-01