Sharp CP-SR421 User Manual download pdf (Page 293)

14. USING A LINEAR SERVO MOTOR

14 - 6

(2) Settings of the linear encoder direction and the linear servo motor direction

Set the first digit of [Pr. PC27] (6HOHFWLRQRIHQFRGHUSXOVHFRXQWSRODULW\) so that the positive direction of

the linear servo motor matches with the increasing direction of the linear encoder feedback.

[Pr.PC27]

ࠛࡦࠦ࡯࠳ࡄ࡞ࠬࠞ࠙ࡦ࠻ᭂᕈㆬᛯ

࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲ᱜᣇะߢ࡝࠾ࠕࠛࡦࠦ࡯࠳Ⴧടᣇะ

࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲ᱜᣇะߢ࡝࠾ࠕࠛࡦࠦ࡯࠳ᷫዋᣇะ

(a) Parameter setting method

1) Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the

travel direction of the linear servo motor under commands as shown below.

Travel direction of linear servo motor

[Pr. PA14] setting

Address increasing

command

Address decreasing

command

0 Positive direction Negative direction

1 Negative direction Positive direction

The positive/negative directions of the linear servo motor are as follows.

ੑᰴ஥

৻ᰴ஥

ᱜᣇะ

⽶ᣇะ

LM-H3 and LM-F series

⽶ᣇะ

ᱜᣇะ

ੑᰴ஥

৻ᰴ஥

LM-U2 series

⽶ᣇะ

ᱜᣇะ

࠹࡯ࡉ࡞

৻ᰴ஥

ੑᰴ஥

LM-K2 series

2) Confirm the increasing direction of the linear encoder.

3) If the positive direction of the linear servo motor matches with the increasing direction of the

linear encoder, set [Pr. PC27] to "_ _ _ 0". If the positive direction of the linear servo motor does

not match with the increasing direction of the linear encoder, set [Pr. PC27] to "_ _ _ 1".

(b) Confirmation method

Confirm the positive direction of the linear servo motor and the increasing direction of the linear

encoder in the following procedure.

1) In servo-off status, move the linear servo motor in the positive direction manually.

2) Confirm the motor speed (in the positive and negative directions) at that time with MR

Configurator2.

3) When [Pr. PC27] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches

with the increasing direction of the linear encoder, if the linear servo motor operates in the

positive direction, the motor speed will be a positive value. If the positive direction of the linear

servo motor does not match with the increasing direction of the linear encoder, the motor speed

will be a negative value. When [Pr. PC27] is set to "_ _ _ 1" and the positive direction of the linear

Primary

side

Secondary

Table

Negative

direction

Positive

direction

Primary

side

Positive

direction

Negative

direction

Primary

side

Secondary

side

Negative

direction

Positive

direction

Selection of encoder pulse count polarity

0: Linear servo motor positive direction and linear encoder increasing direction

1: Linear servo motor positive direction and linear encoder decreasing direction

Selection of encoder pulse count polarity

1 2 ... 288 289 290 291 292 293 294 295 296 297 298 ... 403 404

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Sharp CP-SR421 User Manual Page 293

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