Mitsubishi Electric MR-J2M-P8B Instruction Manual page 84

5. PARAMETERS
Classifi-
No. Symbol
cation
33 *OP6 Option function 6
Used to select the serial communication baudrate, serial
communication response delay time setting and encoder output
pulse setting.
34 VPI PI-PID control switch-over position droop
Used to set the position droop value (number of pulses) at which PI
control is switched over to PID control.
Set "0001" in DRU parameter No. 32 to make this function valid.
35 For manufacturer setting
Do not change this value by any means.
36 VDC Speed differential compensation
Used to set the differential compensation.
37 For manufacturer setting
38 *ENR Encoder output pulses
Used to set the encoder pulses (A-phase, B-phase) output by the
enhancing IO unit.
Set the value 4 times greater than the A-phase and B-phase pulses.
You can use DRU parameter No.33 to choose the output pulse
setting or output division ratio setting.
The number of A-phase and B-phase pulses actually output is 1/4
times greater than the preset number of pulses.
The maximum output frequency is 1.3Mpps (after multiplication by
4). Use this parameter within this range.
Name and Function
0 0 0
Encoder output pulse setting selection
(refer to parameter No.38)
0: Output pulse setting
1: Division ratio setting
POINT
The MR-J2M-D01 extension IO unit is required to output the
encoder pulses (A phase, B phase, Z phase).
For output pulse designation
Set "0 " (initial value) in DRU parameter No.33.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
At the setting of 5600, for example, the actually output A-phase
and B-phase pulses are as indicated below:
A-phase and B-phase output pulses
For output division ratio setting
Set "1 " in DRU parameter No.33.
The number of pulses per servo motor revolution is divided by the
set value.
Resolution per servo motor revolution
Output pulse
At the setting of 8, for example, the actually output A-phase and
B-phase pulses are as indicated below:
A-phase and B-phase output pulses
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5600
1400[pulse]
4
[pulses/rev]
Set value
131072 1
4096[pulse]
8 4
5 - 10
Initial Setting
Unit
Value Range
0000 Refer to
name
and
function
column.
0 pulse 0
to
50000
0
980 0
to
1000
0010
4000 pulse/rev 1
to
65535