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10 USING A LINEAR SERVO MOTOR
10.3 Startup [A]
■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 servo motor speed (in the positive and negative directions) at that time with MR Configurator2.
3. The servo motor speed is a positive value when [Pr. PC45.0 Encoder pulse count polarity selection] is set to "0" (encoder
pulse increasing direction in the servo motor CCW or positive direction), the positive direction of the linear servo motor
matches the increasing direction of the linear encoder, and the linear servo motor is operated in the positive direction. If
the positive direction of the linear servo motor does not match the increasing direction of the linear encoder, the servo
motor speed will be a negative value. The servo motor speed is a negative value when [Pr. PC45.0] is set to "1" (encoder
pulse decreasing direction in the servo motor CCW or positive direction), the positive direction of the linear servo motor
matches the increasing direction of the linear encoder, and the linear servo motor is operated in the positive direction.
Linear encoder resolution setting
Set the ratio to the linear encoder resolution with [Pr. PL02 Linear encoder resolution setting - Numerator] and [Pr. PL03
Linear encoder resolution setting - Denominator].
• The setting values of these servo parameters are enabled after the power is cycled or the software is reset.
• If incorrect values are set for [Pr. PL02] and [Pr. PL03], the linear servo motor may not operate properly, or [AL. 027] or [AL.
042] may occur in the positioning operation and the magnetic pole detection.
■Servo parameter setting
Set the values that apply to the following equation.
■Servo parameter setting example
• When the linear encoder resolution is 0.5 µm
The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].
Settings when connecting the LM-AJ series
The LM-AJ series is not equipped with a thermistor that can be connected to a servo amplifier. It is equipped only with a
thermal protector that can be connected to an external relay. For that reason, when driving the LM-AJ series, set [Pr. PD30.3
Servo motor thermistor - Enabled/disabled selection] to "1" to disable the thermistor. If this setting is not configured, [AL. 046.3
Thermistor disconnected error] will occur.
Linear encoder resolution [µm]
0.01 0.02 0.05 0.1 0.2 0.5 1.0 2.0
Setting value[Pr. PL02]11111112
[Pr. PL03]1005020105211
[Pr. PL02 Linear encoder resolution setting - Numerator]
= Linear encoder resolution [µm]
[Pr. PL03 Linear encoder resolution setting - Denominator]
= Linear encoder resolution = 0.5 µm =
1
2
[Pr. PL02]
[Pr. PL03]
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