Mitsubishi Electric MR-J4 Instruction Manual page 576

15. USING A LINEAR SERVO MOTOR
(3) Setting of linear encoder direction and linear servo motor direction
Set the first digit of [Pr. PC45] (Encoder pulse count polarity selection) so that the positive direction of
the linear servo motor matches with the increasing direction of the linear encoder feedback.
(a) Parameter setting method
1) Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the
travel direction of the linear servo motor under commands as shown below.
The positive/negative directions of the linear servo motor are as follows.
Negative direction
Positive direction
LM-H3 and LM-F series
2) Confirm the increasing direction of the linear encoder.
3) If the positive direction of the linear servo motor matches with the increasing direction of the
linear encoder, set [Pr. PC45] to "_ _ _ 0". If the positive direction of the linear servo motor does
not match with the increasing direction of the linear encoder, set [Pr. PC45] to "_ _ _ 1".
(b) Confirmation method
Confirm the positive direction of the linear servo motor and the increasing direction of the linear
encoder in the following procedure.
1) In servo-off status, move the linear servo motor in the positive direction manually.
2) Confirm the motor speed (in the positive and negative directions) at that time with MR
Configurator2.
3) When [Pr. PC45] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches
with the increasing direction of the linear encoder, if the linear servo motor operates in the
positive direction, the motor speed will be a positive value. If the positive direction of the linear
servo motor does not match with the increasing direction of the linear encoder, the motor speed
will be a negative value. When [Pr. PC45] is set to "_ _ _ 1" and the positive direction of the linear
servo motor matches with the increasing direction of the linear encoder, if the linear servo motor
operates in the positive direction, the motor speed will be a negative value.
[Pr. PC45]
Encoder pulse count polarity selection
0: Linear servo motor positive direction and linear encoder increasing direction
1: Linear servo motor positive direction and linear encoder decreasing direction
[Pr. PA14] setting
0
1
Secondary side
Secondary
side
Primary side
Travel direction of linear servo motor
Address increasing
command
Positive direction
Negative direction
Primary
side
Positive direction
Negative direction
LM-U2 series
15 - 9
Address decreasing
command
Negative direction
Positive direction
Negative direction
Positive direction
Table
Primary side
LM-K2 series
Secondary
side