sh030106u.pdf - 第530页

16. FULLY CLOSE D L OOP SYS TEM 16 - 5 (2) For a rotary encoder (a) MR-J4- _B_ ser vo ampl ifier CN2 Servo motor Two- wire type rot ary encod er HG-KR, HG-MR servo motor (4194304 pulses/rev) Drive part Servo amplifier SS…

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16. FULLY CLOSED LOOP SYSTEM
16 - 4
16.1.3 System configuration
(1) For a linear encoder
(a) MR-J4-_B_ servo amplifier
CN2
Servo amplifier
SSCNET III/H controller
SSCNET III/H
Position command
control signal
Table
To the next servo amplifier
(Note)
Two-wire type serial interface compatible linear encoder
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor
Note.
A
pplicable for the absolute position detection system when an absolute position linear encoder is used.
In that case, a batter
y
is not required.
(b) MR-J4-_B_-RJ servo amplifier
CN2
(Note)
A/B/Z-phase pulse train interface compatible linear encoder
or
two-wire/four-wire type serial interface compatible linear encoder
CN2L
(A/B/Z-phase pulse train interface
or serial interface)
Servo amplifier
SSCNET III/H controller
SSCNET III/H
Position command
control signal
Table
To the next servo amplifier
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor
Note.
A
pplicable for the absolute position detection system when an absolute position linear encoder is used.
In that case, a batter
y
is not required.
16. FULLY CLOSED LOOP SYSTEM
16 - 5
(2) For a rotary encoder
(a) MR-J4-_B_ servo amplifier
CN2
Servo motor
Two-wire type rotary encoder HG-KR,
HG-MR servo motor (4194304 pulses/rev)
Drive part
Servo amplifier
SSCNET III/H controller
SSCNET III/H
Position command
control signal
To the next
servo
amplifier
(Note)
(Note)
Load-side encoder signal
Servo motor 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.
(b) MR-J4-_B_-RJ servo amplifier
CN2
CN2L
Servo motor
A/B/Z-phase differential output, two-wire type, or four-wire type
rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev)
or synchronous encoder Q171ENC-W8 (4194304 pulses/rev)
Drive part
Servo amplifier
SSCNET III/H controller
SSCNET III/H
Position command
control signal
Servo motor encoder signal
Load-side encoder signal
To the next servo
amplifier
16. FULLY CLOSED LOOP SYSTEM
16 - 6
16.2 Load-side encoder
POINT
Always use the load-side encoder cable introduced in this section. Using other
products may cause a malfunction.
For details of the load-side encoder specifications, performance and assurance,
contact each encoder manufacturer.
16.2.1 Linear encoder
Refer to "Linear Encoder Instruction Manual" for usable linear encoders.
16.2.2 Rotary encoder
If using a rotary encoder as a load-side encoder, use the following servo motor or encoder.
Servo amplifier HG-KR HG-MR Synchronous encoder Q171ENC-W8
A/B/Z-phase
differential output
(Note)
MR-J4-_B_
MR-J4-_B_-RJ
Note.
A
/B/Z-phase differential output rotary encoders with the same specifications as A/B/Z-phase differential output
linear encoders can be used as load-side encoders. Refer to "Linear Encoder Instruction Manual".
Use a two-wire type encoder cable for MR-J4-_B_ servo amplifiers. Do not use MR-EKCBL30M-L,
MREKCBL30M-H, MR-EKCBL40M-H, or MR-EKCBL50M-H as they are four-wire type. If a 30 to 50 m
encoder cable is required, fabricate a two-wire type encoder cable by referring to app. 9.
16.2.3 Configuration diagram of encoder cable
Configuration diagram for servo amplifier and load-side encoder is shown below. Cables used vary,
depending on the load-side encoder.
(1) Linear encoder
Refer to "Linear Encoder Instruction Manual" for encoder cables for linear encoder.
(a) MR-J4-_B_ servo amplifier
Servo amplifier
Linear encoder
CN2
MR-J4FCCBL03M branch cable
(Refer to section 16.2.4)
Encoder of rotary servo motor
Encoder cable
(Refer to "Linear Encoder Instruction Manual".)
CN2 MOTOR
SCALE
Load-side
encoder