Mitsubishi Electric MELSEC iQ-R Series User Manual page 41

Synchronous encoder via servo amplifier
There are restrictions in the function and the encoder that can be used by the version of the servo amplifier.
■Setting method
Used to use a rotary encoder connected to the servo amplifier which supports the scale measurement mode as a
synchronous encoder axis.
The following servo amplifiers can be used.
• MR-J4-B [RD77MS]
• MR-J4-B-RJ [RD77MS]
• MR-J4W2-B [RD77MS]
• MR-J4-GF [RD77GF]
• MR-J4-GF-RJ [RD77GF]
• MR-J5-B [RD77MS]
• MR-J5-B-RJ [RD77MS]
• MR-J5W2-B [RD77MS]
Refer to the following servo amplifier instruction manuals and manuals for the version of the servo amplifier which supports
the scale measurement function, the rotary encoder and the cable configuration diagram which can be used with the scale
measurement function.
SSCNET/H Interface AC Servo MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual [RD77MS]
SSCNET/H Interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier Instruction
Manual [RD77MS]
MR-J5 User's Manual (Function) [RD77MS]
CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (Motion Mode) [RD77GF]
Linear encoders and A/B/Z-phase differential output type rotary encoders cannot be used.
A synchronous encoder connected to the specified servo amplifier axis can be used by the following settings.
Setting item Setting method
Synchronous encoder axis Set "101 to 116: Synchronous encoder via servo amplifier
setting (Connectable servo amplifier: axis 1 to axis 32
Synchronous encoder axis type".
Encoder type setting Set the servo parameter "Scale measurement mode selection
(Absolute/Incremental) (PA22)" according to the setting below.
0_ _ _H: Disabled
1_ _ _H: Used in absolute position detection system
2_ _ _H: Used in incremental system
*1 The range from axis 1 to 2 is valid in the 2-axis module, from axis 1 to 4 is valid in the 4-axis module, from axis 1 to 8 is valid in the 8-axis
module, from axis 1 to 16 is valid in the 16-axis module, and from axis 1 to 32 is valid in the 32-axis module.
When "1_ _ _H" is set in the servo parameter "Scale measurement function selection (PA22)", the synchronous encoder axis
position value and the synchronous encoder axis position value per cycle are restored after the servo amplifier axis is
connected. Therefore, connection becomes valid, and will be on the counter enabling status. (The current value setting by
current value change is required beforehand.)
When "2_ _ _H" is set in the servo parameter "Scale measurement function selection (PA22)", "0" is set to the initial value of
the synchronous encoder axis position value and the synchronous encoder axis position value per cycle after the servo
amplifier axis is connected. Therefore, connection becomes valid, and will be on the counter enabling status.
If the corresponding servo amplifier axis is not connected, the connection of the synchronous encoder axis will be invalid.
Setting method of Simple Motion Module Setting
Function
Set the synchronous encoder axis parameter according to the
*1
)" in "[Pr.320] setting below.
• [Pr.320] Type
101: Synchronous encoder via servo amplifier
• [Pr.320] Axis No. of connected servo amplifier
Axis No. of servo amplifier to connect
[RD77MS]
Set "ABS" or "INC" from the "External synchronous encoder
input" list of the amplifier setting dialog.
(The amplifier setting dialog can be opened from the "System
Configuration" window in the "System Setting".)
2 INPUT AXIS MODULE
2.2 Synchronous Encoder Axis
2
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