Yaskawa FSP Amplifier - Manual (Page 158)

FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions
5-91
5.9. Defining User Units and Setup
5.9.1. Position Control
5.9.1.1. Defining User Units for Motion Profiles
The FSP Amplifier’s built-in programming capability enables the user to
define various motion profiles without the need for an external motion
controller. Having first defined the relationship between the actual encoder
resolution and the units employed, the user uses units such as radians,
millimeters, etc. to write motion commands. These user units (a.k.a.
Engineering Units) are automatically converted by the FSP Amplifier to
encoder units.
Each user unit is comprised of three different factors: Position units, Speed
units and Acceleration units, where each factor has both a numerator and a
denominator.
5.9.1.2. Position Units
Use the following parameters to convert position units from
[Encoder counts] to [User units]:
Parameter Setting
Default
Setting
Signal
Pn2B0 Range: 1 to 65535 1 Position units ratio numerator
Pn2B1 Range: 0 to 16383 0
Position units ratio numerator
(high bits)
Pn2B2 Range: 1 to 65535 1 Position units ratio denominator
Pn2B3 Range: 0 to 16383 0
Position units ratio denominator
(high bits)
Position user units are calculated according to the formula:
[ ] [ ]
ator deno ratio units Position
numerator ratio units Position
counts U Unit Position User
min
1 = =
U = The number of encoder counts in each user position unit.
The number need not be an integer.
The maximum value of numerator (Pn2B0) or denominator (Pn2B2) is
65535. In cases where greater values are required, it is possible to use
parameters Pn2B1 and Pn2B3 for storing the high bits of numerator and
denominator, respectively, according to the following formula:
65536
65536
⋅ − =
= =
HB N Bits Low
N
of part Integer HB Bits High
where N = required value.