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Mitsubishi Electric RD77MS2 User Manual Page 37

Melsec iq-r simple motion module.
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Synchronous encoder via servo amplifier
There are restrictions in the function that can be used by the version of the servo amplifier MR-J4-_B-RJ.
Refer to the following for details.
SSCNET/H Interface AC Servo MR-J4-_B(-RJ) MR-J4-_B4(-RJ) MR-J4-_B1(-RJ) Servo Amplifier Instruction Manual
■Setting method
Used to use a serial absolute synchronous encoder connected to CN2L of the servo amplifier MR-J4-_B-RJ as a synchronous
encoder axis.
A synchronous encoder connected to the specified servo amplifier axis can be used by the following settings.
Setting item
Synchronous encoder axis
setting
Encoder type setting (Absolute/
Incremental)
When "1_ _ _H" is set in the servo parameter "Scale measurement mode selection (PA22)", the synchronous encoder axis
current value and the synchronous encoder axis current value per cycle are restored after the servo amplifier axis is
connected. Therefore, connection becomes valid, and will be on the counter enabling status.
When "2_ _ _H" is set in the servo parameter "Scale measurement mode selection (PA22)", "0" is set to the initial value of the
synchronous encoder axis current value and the synchronous encoder axis current value per cycle after the servo amplifier
axis is connected. Therefore, connection becomes valid, and will be on the counter enabling status.
If the corresponding servo amplifier axis is not connected, the connection of the synchronous encoder axis will be invalid.
■Point of the setting method
• "Scale measurement mode selection (PA22)" is set to the servo amplifier set by "ABS" or "INC" from the "External
synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting Function.
• When the servo parameter "Scale measurement mode selection (PA22)" is changed, it is required to switch the power of
servo amplifier off once after the parameter is transferred to the servo amplifier, and then switch it on again.
• If the servo amplifier set by the servo parameter "Scale measurement mode selection (PA22)" does not support the "Scale
measurement mode", "AL.37" (parameter error) will occur in the servo amplifier. Refer to the SSCNET/H Interface AC
Servo MR-J4-_B(-RJ) MR-J4-_B4(-RJ) MR-J4-_B1(-RJ) Servo Amplifier Instruction Manual for details of the servo
parameter "Scale measurement mode selection (PA22)".
• The synchronous encoder via servo amplifier can be controlled up to 4. However, there is no restriction for the number of
connections. Therefore, the error check is not executed even when the external synchronous encoders are set more than 4
on the system setting screen using the Simple Motion Module Setting Function.
• The following information of the synchronous encoder via servo amplifier can be output with the optional data monitor. The
setting details of the optional data monitor for the synchronous encoder information are shown below.
Information of synchronous
encoder
Scale position within one-revolution
Scale absolute counter
• A serial absolute synchronous encoder Q171ENC-W8 can be used in an incremental system by setting "2_ _ _H" in the
servo parameter "Scale measurement mode selection (PA22)" even if the battery of the servo amplifier is dismounted.
Setting method
Simple Motion Module Setting Function
Set the synchronous encoder axis parameter according to
the setting below.
• "[Pr.320] Type"
101: Synchronous encoder via servo amplifier
• "[Pr.320] Axis No. of connected servo amplifier"
Axis No. of servo amplifier to connect
Set "ABS" or "INC" from the "External synchronous encoder
input" list of the amplifier setting dialog.
(The amplifier setting dialog can be opened from the system
structure screen in the system setting.)
Setting detail for optional data monitor
24: Load side encoder information 1 (Used point:
2words)
25: Load side encoder information 2 (Used point:
2words)
Program
Set "101 to 116: Synchronous encoder via servo amplifier
(Connectable servo amplifier: axis 1 to axis 16)" in "[Pr.320]
Synchronous encoder axis type".
Set the servo parameter "Scale measurement mode
selection (PA22)" according to the setting below.
0_ _ _H: Disabled
1_ _ _H: Used in absolute position detection system
2_ _ _H: Used in incremental system
2 INPUT AXIS MODULE
2.2 Synchronous Encoder Axis
2
35

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