Mitsubishi Electric R32MTCPU Programming Manual page 57

Via servo amplifier
■Setting method
The serial absolute synchronous encoder (Q171ENC-W8) and absolute/incremental scale connected to CN2L of the servo
amplifier (MR-J4-B-RJ) is used as the synchronous encoder axis. Setting "101: Via servo amplifier" in "[Pr.320]
Synchronous encoder axis type" and "ABS" or "INC" in the "External synchronous encoder input" of amplifier setting enables
the serial absolute synchronous encoder connected to the specified servo amplifier axis to be used.
When a servo amplifier axis with a serial absolute synchronous encoder or ABS scale installed is connected, the synchronous
encoder axis connection becomes valid. The synchronous encoder axis current value and the synchronous encoder axis
current value per cycle are restored, and the synchronous encoder axis connection is on the counter enabling status. When a
servo amplifier axis with an incremental scale installed is connected, the synchronous encoder axis connection becomes
valid. 0 is set to the initial value of the synchronous encoder axis current value and the synchronous encoder axis current
value per cycle, and the synchronous encoder axis connection is on the counter enabling status. When the applicable servo
amplifier axis is not connected, the synchronous encoder axis connection is invalid.
For servo amplifiers performing "Via servo amplifier", use the software version that supports each encoder connected. The
software version that supports each encoder is shown in the table below.
Servo amplifier model
MR-J4-B-RJ
• Servo amplifiers with "ABS" or "INC" set to "External synchronous encoder input" of amplifier setting, have
servo parameter "Scale measurement function selection (PA22)" set. (When servo parameter "Scale
measurement function selection (PA22)" has been changed, after transmitting parameter to the servo
amplifier, the power supply of the servo amplifier must be turned OFF once, and turned ON again.)
• When a servo amplifier with servo parameter "Scale measurement function selection (PA22)" set does not
support "Scale measurement function", AL.37 (parameter error) occurs in the servo amplifier. Refer to the
following for details on servo parameter "Scale measurement function selection (PA22)".
 Servo amplifier Instruction Manual
• When the battery of the servo amplifier is disconnected, the serial absolute synchronous encoder
(Q171ENC-W8) can be used as an incremental system (INC) by setting "External synchronous encoder
input" of amplifier setting to "INC".
Software version
B0 or later
4 INPUT AXIS MODULE
4.3 Synchronous Encoder Axis
4
55