Yaskawa Sigma II Series SGMVH - Manual (Page 227)

8 Operation
8.5.7 Encoder Signal Output
8-46
• Pulse Dividing Ratio Setting
The upper limit of PG dividing ratio (Pn201) is 16384 [P/R] that is decided for 16-bit encoder. However,
SGMVH servomotors are equipped with 17-bit encoder as standard and 20-bit encoder as an option. There-
fore, the parameter Pn212 is added to adapt the dividing pulse setting for 20-bit encoder.
For the PG dividing ratio setting, either the existing Pn210 or the newly added Pn212 can be used.
Select Pn201 or Pn212 by the switch for parameters. The factory setting is Pn201.
• Dividing pulse is set in the resolution 16-bit or less, use Pn201.
• Dividing pulse is set in the resolution 17-bit or more, use Pn212.
For the setting method of dividing ratio for 17-bit or more resolution, refer to (2) Setting PG dividing ratio of
5-digit or more.
(1) Related Parameters
The setting range of Pn212 differs depending on the encoder used.
The upper limit of dividing output frequency is 1.4 Mpps because of the restrictions on the hardware. Therefore,
setting a high number of pulses limits the motor speed.
The following table shows the setting conditions when Pn212 is used.
For settings higher than 16384 P/R, pulses must be set in the following increments.
The setting error alarm A.09 (dividing ratio setting error) will occur if the setting is outside the allowable range
or does not satisfy the setting conditions. The overspeed alarm A.51 will occur if the motor speed exceeds the
upper limit.
When setting the pulse dividing ratio using a digital operator or panel operator, the display of the number of
pulses is skipped to not increment by 2 to 16 pulses and the upper limit will not increment above the resolution of
mounted encoder.
Parameter Description
Pn207 n.†0†† Uses the parameter Pn201 (For 16-bit or less) as the dividing ratio (Factory setting).
n.†1†† Uses the parameter Pn212 (For 17-bit or more) as the dividing ratio.
Pn201
PG Dividing Ratio (For 16-bit or less)
Setting Range Setting Unit Factory Setting Setting Validation
16 to 16384 1 P/rev 16384 After restart
Pn212
PG Dividing Ratio (For 17-bit or more)
Setting Range Setting Unit Factory Setting Setting Validation
16 to 1073741824 1 P/rev 2048 After restart
„ Output Example
Pn201=16 (when 16 pulses are output per revolution)
Speed Position Torque
Speed Position Torque
Preset value: 16
1 revolution
PAO
PBO
Encoder Resolution
(Bits)
Number of Encoder Pulses
per Revolution (P/R)
Setting Range (P/R)
17
20
32768
262144
16 to 32768
16 to 262144
PG Dividing Ratio
Setting (P/R)
Increments
(P/R)
Motor Speed Upper Limit (min-1)
16 to 16384
16386 to 32768
32772 to 65536
65544 to 131072
131088 to 262144
1-pulse
2-pulse
4-pulse
8-pulse
16-pulse
No limit
82 × 106/set value