Scale Measurement Function - Mitsubishi Electric MR-J4W2-0303B6 Instruction Manual

17. APPLICATION OF FUNCTIONS

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.
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.
Controller
(Servo motor)
droop pulses
(Servo motor)
cumulative
feedback pulses
Cumulative
load-side
feedback pulses
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 app. 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 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.
+
-
+
Servo motor feedback pulses
(load-side resolution unit)
-
Control
Monitor
+
-
S
Load-side feedback pulses
17 - 65
Servo motor
Scale measurement encoder
Encoder pulse setting
([Pr. PA15], [Pr. PA16],
and [Pr. PC03])