sh030106u.pdf - 第624页
17. APPLICATIO N OF FUNCTIONS 17 - 73 (2) System configuration (a) For a l inear enco der 1) MR-J4-_B_ servo am plifier Servo amplifier CN2 SSCNET III/H controller SSCNET III/H Position command Control signal Table To th…
17. APPLICATION OF FUNCTIONS
17 - 72
17.3 Scale measurement function
The scale measurement function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop control.
POINT
The scale measurement function is available for the servo amplifiers of software
version A8 or later.
When a linear encoder is used as a scale measurement encoder for this servo
amplifier, "Linear Encoder Instruction Manual" is necessary.
When the scale measurement function is used for MR-J4-_B_ servo amplifiers,
the following restrictions apply. However, these restrictions will not be applied for
MR-J4-_B_-RJ servo amplifiers.
A/B/Z-phase differential output type encoder cannot be used.
The scale measurement encoder and servo motor encoder are compatible
with only the two-wire type. The four-wire type scale measurement encoder
and servo motor encoder cannot be used.
When you use the HG-KR and HG-MR series for driving and scale
measurement encoder, the optional four-wire type encoder cables (MR-
EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H)
cannot be used. When an encoder cable of 30 m to 50 m is needed, fabricate
a two-wire type encoder cable according to app. 8.
The scale measurement function compatible servo amplifier can be used with
any of the following controllers.
Motion controller R_MTCPU/Q17_DSCPU
Simple motion module RD77MS/QD77MS_/LD77MS_
For settings and restrictions of controllers compatible with the scale
measurement function, refer to user's manuals for each controller.
17.3.1 Functions and configuration
(1) Function block diagram
The following shows a block diagram of the scale measurement function. The control will be performed
per servo motor encoder unit for the scale measurement function.
Servo motor feedback pulses
(Servo motor resolution unit)
(Servo motor)
Droop pulses
(Servo motor)
Cumulative
feedback pulses
Cumulative
load-side
feedback pulses
Servo motor
Scale measurement encoder
Controller
S
Encoder pulse setting
([Pr. PA15], [Pr. PA16]
and [Pr. PC03])
+
-
+
-
+
-
Control
Monitor
Load-side feedback pulses
(Scale resolution unit)
17. APPLICATION OF FUNCTIONS
17 - 73
(2) System configuration
(a) For a linear encoder
1) MR-J4-_B_ servo amplifier
Servo amplifier
CN2
SSCNET III/H controller
SSCNET III/H
Position command
Control signal
Table
To the next servo amplifier
Two-wire type serial interface compatible linear encode
r
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor
2) MR-J4-_B_-RJ servo amplifier
Servo amplifier
CN2
SSCNET III/H controller
SSCNET III/H
Position command
Control signal
Table
To the next servo amplifier
A/B/Z-phase pulse train interface compatible linear encoder or
two-wire/four-wire type serial interface compatible linear encoder
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor
CN2L
(A/B/Z-phase pulse train interface or
serial interface)
17. APPLICATION OF FUNCTIONS
17 - 74
(b) For a rotary encoder
1) MR-J4-_B_ servo amplifier
Servo motor
Two-wire type rotary encoder
HG-KR, HG-MR servo motor (4194304 pulses/rev)
Drive part
Servo amplifier
CN2
SSCNET III/H controller
SSCNET III/H
Position command
Control signal
To the next
servo
amplifier
(Note)
(Note)
Servo motor encoder signal
Load-side encoder signal
Note. Use a two-wire t
y
pe encoder cable. A fou
r
-wire t
y
pe linear encoder cable cannot be used.
2) MR-J4-_B_-RJ servo amplifier
Servo motor
A/B/Z-phase differential output, two-wire/four-wire type rotary encode
r
HG-KR, HG-MR servo motor (4194304 pulses/rev), or
synchronous encoder Q171ENC-W8 (4194304 pulses/rev)
Drive part
Servo amplifier
CN2
SSCNET III/H controller
SSCNET III/H
Position command
Control signal
To the next
servo
amplifier
CN2L
Load-side encoder signal
Servo motor encoder signal