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17. APPLICATION OF FUNCTIONS
17. APPLICATION OF FUNCTIONS
This chapter explains the application of using servo amplifier functions.
17.1 Scale measurement function
The function transmits position information of a scale measurement encoder to the controller by connecting
the scale measurement encoder in semi closed loop control.
17.1.1 Functions and configuration
(1) Function block diagram
The following shows a block diagram of the scale measurement function. The control will be performed
in units of encoders of the servo motor for the scale measurement function.
Controller
Position command
(607Ah)
Motor-side droop
pulses
(60F4h)
Current position
(absolute position)
(6064h)
Scale within-1-rev
position
(2D36h)
Scale ABS counter
(2D37h)
POINT
The scale measurement function is available with servo amplifiers with software
version B0 or later.
When a linear encoder is used as a scale measurement encoder with this servo
amplifier, the "Linear Encoder Instruction Manual" is necessary.
For the controller settings to use the scale measurement function, refer to the
MR-J4-_TM_ Servo Amplifier Instruction Manual for each communication
method.
+
-
+
Servo motor feedback pulses
(Servo motor resolution unit)
-
Control
Monitor
+
Servo motor
-
S
Load-side feedback pulses
(Scale resolution unit)
17 - 1
Scale measurement encoder
Encoder pulse setting
([Pr.PA15], [Pr.PA16]
and [Pr. PC03])
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