Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 411 / 590

Part 6: Common Reference Material
6 - 134
6.3 Scale measurement function
The scale measurement function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop control.
POINT
The scale measurement function is available for the servo amplifiers of software
version A8 or later.
When the scale measurement function is used for MR-J4-_B_or MR-J4W2-_B
servo amplifiers, the following restrictions apply. However, these restrictions will
not be applied for MR-J4-_B_-RJ servo amplifiers.
・
A/B/Z-phase differential output type encoder cannot be used.
・
The scale measurement encoder and servo motor encoder are compatible
with only the two-wire type. The four-wire type scale measurement encoder
and servo motor encoder cannot be used.
・
When you use the HG-KR and HG-MR series for driving and scale
measurement encoder, the optional four-wire type encoder cables (MR-
EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H)
cannot be used. When an encoder cable of 30 m to 50 m is needed, fabricate
a two-wire type encoder cable according to "MR-J4-_B_ Servo Amplifier
Instruction Manual" or "MR-J4W2-_B Servo Amplifier Instruction Manual".
The scale measurement function compatible servo amplifier can be used with
any of the following controllers.
・
Motion controller R_MTCPU/Q17_DSCPU
・
Simple motion module RD77MS/QD77MS_/LD77MS_
(The MR-J4W2-_B servo amplifiers are not available with simple Motion
module.)
For settings and restrictions of controllers compatible with the scale
measurement function, refer to user's manuals for each controller.
The MR-J4W2-0303B6 servo amplifier is not compatible with the scale
measurement function.
6.3.1 Functions and configuration
(1) Function block diagram
The following shows a block diagram of the scale measurement function. The control will be performed
per servo motor encoder unit for the scale measurement function.
Servo motor feedback pulses
(Servo motor resolution unit)
(Servo motor)
Droop pulses
(Servo motor)
Cumulative
feedback pulses
Cumulative
load-side
feedback pulses
Servo motor
Scale measurement encoder
Controller
S
Encoder pulse setting
([Pr.PA15], [Pr.PA16]
and [Pr. PC03])
+
-
+
-
+
-
Control
Monitor
Load-side feedback pulses
(Scale resolution unit)