Function - Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual

14. USING A LINEAR SERVO MOTOR
(b) Settings of the number of pulses (AP) and travel distance (AL)
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following
conditions.
When the linear encoder resolution is 0.05 µm
Number of pulses (AP) [pulse]

14.3.6 Function

(1) Linear servo control error detection function
If the linear servo control gets unstable for some reasons, the linear servo motor may not operate
properly. To detect this state and to stop operation, the linear servo control error detection function is
used as a protective function.
The linear servo control error detection function has three different detection methods: the position
deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with
[Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with
[Pr. PL05], [Pr. PL06], and [Pr. PL07].
User
Command
[mm]
Position feedback
[mm]
Speed feedback
[mm/s]
1 20
= =
0.05 1
POINT
For the linear servo control error detection function, the position and speed
deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
Servo amplifier
Servo amplifier internal value
1) Model feedback position [mm]
3) Model feedback speed [mm/s]
5) Command thrust [%]
Linear encoder
2) Feedback position [mm]
4) Feedback speed [mm/s]
6) Feedback thrust [%]
Figure 14.1 Outline of linear servo control error detection function
Controller Servo amplifier
+
AP
AL
-
AL
AP
Differ-
entiation
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Linear servo
motor
Linear encoder
Linear servo motor
Linear encoder