Mitsubishi Electric MELSERVO-J4 series, Инструкция по эксплуатации

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17 APPLICATION OF FUNCTIONS
17.1 Scale measurement function
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Controller setting of the scale measurement function
When a simple motion module RD77GF is used, the scale function is available in the servo cyclic transmission function or
servo transient transmission function. To use the simple motion module, set the objects 2D36h and 2D37h to any receive
PDO, and the objects 2D35h, 2D38h, and 2D3Ch to any receive SDO.
For settings of the servo cyclic transmission function and servo transient transmission function, refer to the controller
instruction manual.
Related object
Check that bit 1 of SubIndex2 of 2D35h (Encoder status2) is on before reading the object. If the object is read while bit 1 is off,
the value of each object will be 0.
*1 The counter indicates cumulative amount of travel distance from 0 (the position at power-on) to the travel direction. The range is
between -2147483648 and 2147483647.
Index Sub Object Name Data Type Access Default Description
2D36h 0 VAR Scale cycle counter I32 ro  Rotary encoder: Cycle counter
Absolute position type linear encoder: ABS counter
Incremental type linear encoder: Scale coasting
counter
*1
A/B/Z-phase differential output type and
incremental type linear encoder: Scale coasting
counter
*1
2D37h 0 VAR Scale ABS counter I32 ro

Rotary encoder: Multi-revolution ABS counter
Absolute position type linear encoder: Fixed to 0
Incremental type linear encoder: Fixed to 0
A/B/Z-phase differential output type and
incremental type linear encoder: Fixed to 0
2D3Ch 0 VAR Scale measurement
encoder alarm U16 ro

0: Normal Correct data is stored in each object.
Value other than 0: Error The previous value is
stored in each object.
2D38h 0 VAR Scale measurement
encoder resolution U32 ro

For rotary encoder, for example, when an encoder
of 4194304 pulses/rev is connected, the object
value is 4194304.
The value is always 0 except for rotary type.
2D35h 0 ARRAY Encoder status U8 ro 1 The number of entries is returned.
2D35h 1 ARRAY Encoder status1 U32 ro

The encoder status is returned. For a fully closed
loop system, the external encoder status is
returned.
Bit 0: Whether the servo amplifier is used in an
absolute position detection system or not is
returned. (OFF = Incremental system, ON =
Absolute position detection system)
2D35h 2 ARRAY Encoder status2 U32 ro

Scale measurement status display
Bit 0: Whether the servo amplifier is used in an
absolute position detection system or not is
returned. (OFF = Incremental system, ON =
Absolute position detection system)
Bit 1: Whether the scale measurement function is
enabled or disabled is returned. (OFF = Disabled,
ON = Enabled)
Bit 2: Whether the connected scale measurement
encoder is the absolute position type or not is
returned. (OFF = Incremental type, ON = Absolute
position type)