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17. APPLICATION OF FUNCTIONS
17 - 63
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 appendix 9.
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 QD77MS_
For settings 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)