Specifications

14.1
Fundamental settings
14
-23

When a External encoder is connected for reverse rotation
MD32100 (Motor encoder rotation direction), MD32110 (External encoder rotation direction), and
MD3002 digit 3 (External encoder rotation direction) are to be set as follows.
• MD3006 digit 2 (Pn006 digit 2) FUNCTION_SWITCH_APPLIC6 (For each axis)
Meaning: Full-closed specification
Setting value: 0 --- Type 2 (Internal drive position feed-back is used as External encoder
pulse.)
1 --- Type 1 (Internal drive position feed-back is used as motor encoder
pulse.)
Standard setting value: 0
• MD3205 (Pn205) MULTI_TURN_LIMIT
Meaning: Multi-turn limit setting
Setting value: Multi-turn limit setting of absolute motor encoder
When Mitsubishi Heavy Industries MP scale is used, assign a number, 1
less than the gear ratio between motor encoder and MP scale.
Note: If Servo drive alarm "204 (A.CC)" is displayed as a result of this
parameter setting, release it using Fn013 operation from the Digital
operator. (See INFO " ■ When multi-turn limit value inconsistency
happens" in 14.1.5.)
Since the Fn013 operation cannot be made to a 20-bit absolute
encoder, you cannot use a 20-bit absolute encoder in combination
with the MP scale.
• MD3207 digit 3 (Pn207 digit 3) SWITCH_POSITION_REF (For each axis)
Meaning: External PG type selection
Setting value: 0 --- Pulse encoder (Linear scale)
1 --- Pulse encoder (Rotary scale)
3 --- Mitsubishi Heavy Industries MP scale
Note: Be sure to assign "3" when an MP scale is used.
• MD3210 (Pn20A) PG_PLS_MTRRND_LW_FULLCLOSED (For each axis)
Meaning: The number of full-closed PG pulses/Single revolution of motor (Lower
word)
Setting value: [Pulse]
INFO
External encoder
specification
Motor encoder
connection
Motor rotation
direction
MD32100
External encoder
rotation direction
MD32110
Motor rotation
encoder
MD3000 digit 0
External
encoder rotation
direction
MD3002 digit 3
Type 2 reverse
rotation
connection
Forward rotation 1 1 0 4 or 8
Reverse rotation -1 1 0 2 or 6