Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

Page: 525 / 646

16 FULLY CLOSED LOOP SYSTEM
16.3 Operation and functions
523
16
Selection of load-side encoder communication method
The communication method changes depending on the load-side encoder type. Refer to the following and "Linear Encoder
Instruction Manual" for the communication method for each load-side encoder.
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Page 18 Summary
Select the cable to be connected to CN2L connector in [Pr. PC26].
Setting of load-side encoder polarity
• "Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14 Rotation direction
selection]. Make sure to set the parameter according to the relationships between servo motor and linear
encoder/rotary encoder.
• Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr. PC27]. Doing so may
cause [AL. 42 Fully closed loop control error] during the positioning operation.
■
Parameter setting method
Set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW direction of servo motor and
the increasing direction of load-side encoder feedback.
■
How to confirm the load-side encoder feedback direction
For the way of confirming the load-side encoder feedback direction, refer to the following.
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Page 526 Confirmation of load-side encoder position data
CAUTION
• Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr. PC27]. An abnormal operation and a machine collision may occur if an
incorrect direction is set, which cause a fault and parts damaged.
0 0 0
[Pr. PC26]
Load-side encoder cable communication method selection
0: Two-wire type
1: Four-wire type
When using an encoder of A/B/Z-phase differential output method, set "0".
Incorrect setting will trigger [AL. 70] and [AL. 71].
0 0 0
[Pr. PC27]
Encoder pulse count polarity selection
0: Encoder pulse increasing direction in the servo motor CCW or positive direction
1: Encoder pulse decreasing direction in the servo motor CCW or positive direction
Servo motor
Linear encoder
Servo motor CCW direction
Address increasing direction of linear encoder