sh030106u.pdf - 第631页
17. APPLICATIO N OF FUNCTIONS 17 - 80 Select a polarity o f the s cale me asureme nt encoder with th e followi ng "Enc oder puls e count p olarity selecti on" and " Selecti on of A/B/Z- phase in put int er…
17. APPLICATION OF FUNCTIONS
17 - 79
17.3.3 How to use scale measurement function
(1) Selection of scale measurement function
The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and
[Pr. PA22].
(a) Operation mode selection
The scale measurement function can be used during semi closed loop system (standard control
mode). Set [Pr. PA01] to "_ _ 0 _".
Operation mode selection
[Pr. PA01]
10 0
Semi closed loop system
(Standard control mode)
Setting value
0
Operation mode
Servo motor-side
resolution unit
Control unit
(b) Scale measurement function selection
Select the scale measurement function. Select "1 _ _ _" (Used in absolute position detection system)
or "2 _ _ _" (Used in incremental system) according to the encoder you use.
Scale measurement function selection
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system
000
[Pr. PA22]
(2) Selection of scale measurement encoder communication method and polarity.
The communication method differs depending on the scale measurement encoder type. For the
communication method for using a linear encoder as scale measurement encoder, refer to "Linear
Encoder Instruction Manual". Select "Four-wire type" because there is only four-wire type for
synchronous encoder.
Select the cable to be connected to CN2L connector in [Pr. PC26].
000
[Pr. PC27]
Encoder pulse count polarity selection
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
00
[Pr. PC26]
Load-side encoder cable communication method selection
0: Two-wire type
1: Four-wire type
When using a load-side encoder of A/B/Z-phase differential output method, set "0"
.
Incorrect setting will trigger [AL. 70] and [AL. 71].
Setting "1" while using an MR-J4-_B_ servo amplifier will trigger [AL. 37].
If the settings of the servo amplifier are unchanged from the factory settings and
communication with the controller is performed for the first time, this digit will be
automatically set according to the communication method of the connected
encoder cable.
0
17. APPLICATION OF FUNCTIONS
17 - 80
Select a polarity of the scale measurement encoder with the following "Encoder pulse count polarity
selection" and "Selection of A/B/Z-phase input interface encoder Z-phase connection judgment function"
of [Pr. PC27] as necessary.
POINT
"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14
Rotation direction selection]. Make sure to set the parameter according to the
relationships between servo motor and linear encoder/rotary encoder.
(a) Parameter setting method
1) Select a encoder pulse count polarity.
This parameter is used to set the load-side encoder polarity to be connected to CN2L connector
in order to match the CCW direction of servo motor and the increasing direction of load-side
encoder feedback. Set this as necessary.
000
[Pr. PC27]
Encoder pulse count polarity selection
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
Servo motor
Linear encoder
Servo motor CCW direction
Address increasing direction of linear encoder
2) A/B/Z-phase input interface encoder Z-phase connection judgment function
This function can trigger an alarm by detecting non-signal for Z phase.
The Z-phase connection judgment function is enabled by default. To disable the Z-phase
connection judgment function, set [Pr. PC27].
000
[Pr. PC27]
Selection of A/B/Z-phase input interface encoder Z-phase connection judgment function
0: Enabled
1: Disabled
(b) How to confirm the scale measurement encoder feedback direction
You can confirm the directions of the cumulative feedback pulses of servo motor encoder and the
load-side cumulative feedback pulses are matched by moving the device (scale measurement
encoder) manually in the servo-off status. If mismatched, reverse the polarity.
(3) Confirmation of scale measurement encoder position data
Check the scale measurement encoder mounting and parameter settings for any problems.
Operate the device (scale measurement encoder) to check the data of the scale measurement encoder
is renewed correctly. If the data is not renewed correctly, check the wiring and parameter settings.
Change the scale polarity as necessary.
APPENDIX
App. - 1
APPENDIX
App. 1 Peripheral equipment manufacturer (for reference)
Manufacturer names given in the table are as of August 2021.
For information, such as the delivery time, price, and specifications of the recommended products, contact
each manufacturer.
Manufacturer Reference
NEC TOKIN TOKIN Corporation
Kitagawa Industries Kitagawa Industries Co., Ltd.
JST J.S.T. Mfg. Co., Ltd.
Junkosha
Purchase from Toa Electric Industrial Co. Ltd.,
Nagoya Branch
3M 3M
SEIWA ELECTRIC Seiwa Electric Mfg. Co. Ltd.
Soshin Electric Soshin Electric Co., Ltd.
TE Connectivity TE Connectivity
TDK TDK Corporation
Molex Molex Japan LLC
Toho Technology
Toho Technology Corp. Yoshida terminal block
Division
COSEL COSEL CO., LTD.
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods
United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter
Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium
metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation
Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the
International Maritime Organization (IMO).
To comply the instruction and code, we have modified the indication on the package for general-purpose AC
servo batteries.
The above change will not affect the function and performance of the product.
(1) Target model
(a) Battery (cell)
Model Option model Type
Lithium
content
Mass of
battery
Remark
ER6 MR-J3BAT Cell 0.65 g 16 g
Cells with more than 0.3 grams of
lithium content must be handled as
dangerous goods (Class 9) depending
on packaging requirements.
ER17330
MR-BAT Cell 0.48 g 13 g
A6BAT Cell 0.48 g 13 g