The Pulse Width Of The Encoder Z-Phase Pulse - Mitsubishi Electric MELSERVO-J2S Series Transition Handbook

Part 7: Common Reference Material

1.2.9 The pulse width of the encoder Z-Phase pulse

Note that the pulse width and start-up timing of the encoder Z-phase pulse signal (OP) output from the servo
amplifier are different between the MR-J2S / MR-J2M series and the MR-J4 series.
<Precautions>
* Always reset the home position upon replacement.
<Servo amplifier replacement>
At low speed
Lower than
approximately 130
r/min
At high speed
Approximately 130
r/min or higher
Note 1. This is the pulse width when the servo motor rotates at 10 r/min. The time for the pulse width varies depending on the
number of the servo motor revolutions.
2. Pulse width = 128 × (60/(servo motor speed × 131072) × 10
<Simultaneous replacement>
At low speed
Lower than
approximately 130
r/min
At high speed
Approximately 130
r/min or higher
Note 1. This is the pulse width when the servo motor rotates at 10 r/min. The time for the pulse width varies depending on the
number of the servo motor revolutions.
2. Pulse width = 4096 × (60/(servo motor speed ×4194304) ×10
MR-J2S/MR-J2M series
128/131,072 pulses
128 pulses
(Approximately 6 ms)(Note 1)
Approximately 440 μs fixed
Approximately 440 µs (Note 2)
HG-KR, MR, SR motor
4,096/4,194,304 pulses
4096 pulses
(Approximately 6 ms)(Note 1)
Approximately 400 μs fixed
Approximately 400 µs (Note 2)
7 - 21
Approximately 440 μs fixed
[μs]
6
[μs]
6
MR-J4 series
128/131,072 pulses
128 pulses
(Approximately 6 ms)(Note 1)
Approximately 440 µs (Note 2)