9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
9-7
9
Fully-closed Loop Control
9.1.6 Precautions When Using an External Incremental Encoder by Magnescale
When an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoder
determines if a phase-C pulse (CN1-19, CN1-20) is output and counted.
Note: The count direction (counting up or down) of the encoder determines if a phase-C pulse is output. The output of the
pulse does not depend on the settings of these parameters: Pn000.0 (motor rotational direction ) and Pn002.3 (exter-
nal encoder usage method).
When Passing 1st
Zero Point in Forward Direction and Returning after Power ON
After the power is turned on, the phase-C pulse (CN1-19, CN1-20) is output when the external encoder moves
forward and its detection head first passes the phase-C detection position. After the detection head of the
encoder passes the detection position in a forward direction, the phase-C pulse is output when the head passes
the position regardless of the direction of the encoder’s movement.
Model Interpolator Scale pitch (μm)
SL710
PL101-RY
800
SL720 800
SL730 800
SR75 80
SR85 80
Scale count-up direction
Phase-C detection position
Power ON
Time
Phase-C pulse output
The phase-C pulse is also output when the detection head of the encoder passes
this point in reverse, because the SERVOPACK has recorded the position
where the phase-C pulse was originally output when first passing the position in the forward direction.
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