Yaskawa MP2200 Machine Controller - Manual (Page 221)

4.5 Example of Setting Motion Parameters for the Machine
4-101
Parameter Type
Parameter No.
(Register No.)
Name Description
Default
Value
Motion Fixed
Parameters
No. 6
Command Unit
per Revolution
• This parameter shows the load moving amount for each rotation
of the load axis. Sets the load moving amount value divided by
the reference unit.
• Some examples of the load moving amount are shown below.
10000
Reference Units
per Revolution
Load Configuration Examples
P [mm] Ball screw
360 [ ° ]
Rotating
table
Motion Fixed
Parameters
(cont’d)
No. 6
(cont’d)
Command Unit
per Revolution
(cont’d)
D [mm] Belt
10000
• Setting range: 1 to 2 31 −1 [1 = 1 reference unit]
■ Setting Examples
• Load moving amount per load axis rotation = 12 mm
• Reference unit = 0.001 mm
No. 8
Gear Ratio
[MOTOR] • These parameters are used to set the gear ratio between the motor
and the load. When the motor axis has rotated m times and the
mechanical configuration allows the load axis to rotate n times,
set the following values:
No. 8 = m rotations
No. 9 = n rotations
• Setting range: 1 to 65,535 [rotations]
■ Setting Example
Therefore, set the following values:
No. 8 = 21
No. 9 = 4
1
No. 9
Gear Ratio
[LOAD]
1
No. 6 =
Load travel distance per load axis rotation
Reference unit
P = Ball screw pitch
One rotation
360 °
One rotation
D
D π
One rotation
No. 6 = = 12000
0.001 mm
12 mm
Motor axis m
rotations
7 rotations
Load axis n rotations
4 rotations
3 rotations
9 rotations
= × =
m
n
7
3
9
4
21
4
Gear ratio =