Specifications

Drive set-up procedure
14.1.6
External encoder
14
-22
• MD32642 STIFFNESS_CONTROL_CONFIG [0] (For each axis)
Meaning: External encoder function selection
Setting value: 0 --- Type 1 (Internal drive position feed-back is to be used as motor
encoder pulse.)
Setting value: 1 --- Type 2 (Internal drive position feed-back is to be used as External
encoder pulse.)
Standard setting value when a External encoder is used: 1
Note: Be sure to assign "0" if a External encoder is not used.
• MD34200 ENC_REFP_MODE [1] (For each axis)
Meaning: Return to reference point mode setting (External encoder)
Setting value: For returning to encoder C-phase origin, be sure to assign "1".
When absolute value detection function is active, be sure to assign "0".
• MD34220 ENC_ABS_TURNS_MODULO [1] (For each axis)
Meaning: Multi-turn limit setting (1-100000)
Setting value: Linear scale --- No value needs to be set.
Mitsubishi Heavy Industries MP scale --- 1
Futaba Corporation (Sony) or Yaskawa I/F rotary scale --- 1
• MD36300 ENC_FRQ_LIMIT [1] (For each axis)
Meaning: External encoder frequency clamp
Setting value: Maximum pulse rate [Hz] (Rotary encoder: pps/4; Linear scale: pps)
Standard setting value: 1200000 [Hz] (120% of the hardware capability, 4 Mpps)
 Drive setting
Servo drive
• MD3002 digit 3 (Pn002 digit 3) FUNCTION_SWITCH_APPLIC2 (For each axis)
Meaning: Method for using full-closed PG pulse
Setting value: 0 --- Not to be used.
(1 --- To be used without C-phase. (Incremental encoder))
2 --- To be used with C-phase. (Incremental encoder)
(3 --- To be used in reverse rotation mode without C-phase.
(Incremental encoder))
4 --- To be used in reverse rotation mode with C-phase
(Incremental encoder)
(5 --- To be used without C-phase (Absolute encoder))
6 --- To be used with C-phase (Absolute encoder)
(7 --- To be used in reverse rotation mode without C-phase.
(Absolute encoder))
8 --- To be used in reverse rotation mode with C-phase.
(Absolute encoder))
Note: "Without C-phase" setting is applied when such an encoder is used
that has no C-phase signal. In this case, "C-phase wire break detec-
tion" is not performed.