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■Setting example
The following shows an example for setting a serial absolute synchronous encoder Q171ENC-W8 using MR-J4-_B-RJ as
synchronous encoder axis 1 of the Simple Motion module.
RD77MS
RD77MS4
RUN
3
AX
4
Set the parameters as below.
• Set "101: Synchronous encoder via servo amplifier (servo amplifier axis 3)" in "[Pr.320] Synchronous encoder axis type" of
synchronous encoder axis 1.
• Set "00001000H: MR-J4-_B" in "[Pr.100] Connected device" of the axis to connect Q171ENC-W8.
• Set "ABS" or "INC" from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple
Motion Module Setting Function. (To set using the program, set "1_ _ _H" or "2_ _ _H" in the servo parameter "Scale
measurement mode selection (PA22)".)
• Set "1_ _ _H" in the servo parameter "Function selection C-8 (PC26)".
■Restrictions
• The servo amplifier axis selected as "Synchronous encoder via servo amplifier" in"[Pr.320] Synchronous encoder axis type"
does not operate in the fully closed control mode even though "_ _1_H" is set in the servo parameter "Operation mode
selection (PA01)".
• The information about the synchronous encoder is output to "[Md.112] Optional data monitor output 4" of the servo amplifier
axis selected as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis type", and "[Pr.94]
Optional data monitor: Data type setting 4" is ignored. (Set the total points to be within 3 words for the optional data
monitor. Otherwise, the monitor setting is ignored.)
• When the servo alarms about the serial absolute synchronous encoder connection occur in the servo amplifier axis
selected as "Synchronous encoder via servo amplifier" in " Pr.320 Synchronous encoder axis type", the status becomes
servo OFF. "AL.25" (Absolute position erased), "AL.70" (Load-side encoder initial communication error 1), or "AL.71" (Load-
side encoder normal communication error 1) occurs in the servo amplifier.
• The error "Synchronous encoder via servo amplifier invalid error" (error code: 1BAAH) occurs in the following cases.
• Other than "00001000H: MR-J4-_B" is set in "[Pr.100] Connected device" of the axis No. selected as "Synchronous encoder via servo amplifier" in "[Pr.320]
Synchronous encoder axis type".
• The servo amplifier axis which is not set in the system setting is set to the servo amplifier axis No. to connect to "Synchronous encoder via servo amplifier".
• The servo axis, which "Invalid" is set to from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module
Setting Function, is set to the servo amplifier axis No. to connect to "Synchronous encoder via servo amplifier".
• The encoder other than Q171ENC-W8 is connected to the servo amplifier axis selected as "Synchronous encoder via servo amplifier" in "[Pr.320]
Synchronous encoder axis type".
2 INPUT AXIS MODULE
36
2.2 Synchronous Encoder Axis
ERR
1
AX
2
Axis 1
Axis 2
MR-J4-_B-RJ
Q171ENC-W8
(4194304 pulses/rev)
Axis 3
Synchronous encoder axis 1
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