Mitsubishi Electric MR-J4W2, Instruction Manual

Page: 424 / 542

17. APPLICATION OF FUNCTIONS
17 - 53
17.2 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 only with MR-J4W2-_B. It will not
be available with MR-J4W3-_B.
The scale measurement function is available for the servo amplifiers of software
version A8 or later.
When a linear encoder is used as a scale measurement encoder for this servo
amplifier, "Linear Encoder Instruction Manual" is necessary.
When the scale measurement function is used for MR-J4W2-_B servo
amplifiers, the following restrictions apply.
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 load-side encoder and servo
motor encoder cannot be used.
When you use the HG-KR and HG-MR series for driving and load-side
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 appendix 9.
The scale measurement function compatible servo amplifier can be used with
any of the following controllers.
Motion controller R_MTCPU/Q17_DSCPU
For settings 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.
17.2.1 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
(load-side 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