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16. FULLY CLOSED LOOP SYSTEM
(3) Selection of load-side encoder communication method
The communication method changes depending on the load-side encoder type. Refer to table 1.1 and
"Linear Encoder Instruction Manual" for the communication method for each load-side encoder.
Select the cable to be connected to CN2L connector in [Pr. PC26].
(4) Setting of load-side encoder polarity
CAUTION
(a) 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.
(b) How to confirm the load-side encoder feedback direction
For the way of confirming the load-side encoder feedback direction, refer to (6) in this section.
[Pr. PC26]
0 0 0
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.
POINT
"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.
[Pr. PC27]
0 0 0
Servo motor
Linear encoder
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].
Encoder pulse count polarity selection
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
Address increasing direction of linear encoder
16 - 7
Servo motor CCW direction
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