Yaskawa JAPMC-MC2300 - Manual (Page 139)

6.1 Example Setting of Motion Parameters for the Machine
6.1.8 Linear Scale Pitch and Rated Motor Speed
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6
Motion Parameter Setting Examples
6.1.8 Linear Scale Pitch and Rated Motor Speed
When using a linear motor, set the number of digits below decimal point (fixed parameter No. 5), the linear scale pitch
(fixed parameter No. 6), the rated motor speed (fixed parameter No. 34), and the number of pulses per linear scale pitch
(fixed parameter No. 36) according to the linear motor specifications.
( 1 ) Setting Example 1
The following tables give setting examples for these linear motor, linear scale, and SERVOPACK specifications.
Linear Motor Specifications
• Rated motor speed : 1.5 (m/s)
Linear Scale and SERVOPACK Specifications
• Linear scale pitch : 20 ( μm)
• Serial converter resolution: : 256 (division)
For SGDM, SGDH, SGDS, and SGDV SERVOPACKs, the set value of SERVOPACK parameter Pn281
(Encoder Output Resolution) is actually used in place of the serial converter resolution.
• Pn281 (Encoder Output Resolution): 128 (pulses/(scale pitch × 4)
Set Pn281 to a value of multiples of 4.
[ a ] Setting Example when Fixed Parameter No. 4 (Reference Unit Selection) is set to 1: mm
[ b ] Setting Example when Fixed Parameter No. 4 (Reference Unit Selection) is set to 0: pulse
Fixed Parameter Setting Unit Set Value Description
No. 4
Reference Unit
Selection
– mm
The actual reference unit is determined by settings of this
parameter and the number of digits below decimal point (fixed
parameter 5).
When Number of Digits below Decimal Point = 3,
1 reference unit = 0.001 (mm) = 1 (
μm)
No. 5
Number of Digits
below Decimal
Point
– 3
When Number of Digits below Decimal Point = 3 or more, the
linear scale pitch 20 (
μm) can be expressed in an integral num-
ber. Therefore, set to 3.
No. 6
Linear Scale
Pitch
user units ( μm) 20
1 reference unit = 1 ( μm) because Number of Digits below Dec-
imal Point = 3. Therefore, set to 20 ( μm)
No. 34 Rated Speed 0.1 m/s 15
Set to 15: The value of linear motor rated speed 1.5 (m/s) con-
verted in units of 0.1 m/s.
No. 36
Number of
Pulses per
Linear Scale
Pitch
pulse/ linear
scale pitch
32
Set to the result of division: Pn281 (Encoder Output Resolution)
÷ 4
( In this example, 128
÷ 4 = 32)
Fixed Parameter Setting Unit Set Value Description
No. 4
Reference Unit
Selection
– pulse –
No. 5
Number of Digits
below Decimal
Point
– –
This parameter is invalid when "pulse" is selected for Reference
Unit.
No. 6
Linear Scale
Pitch
μm 256
When "pulse" is selected for Reference Unit, the setting unit of
this parameter is fixed to "
μm". Therefore, set to 20.
No. 34 Rated Speed 0.1 m/s 15
Set to 15: The value of linear motor rated speed 1.5 (m/s) con-
verted in units of 0.1 m/s.
No. 36
Number of
Pulses per
Linear Scale
Pitch
pulse/ linear
scale pitch
2
Set to the result of division: Pn281 (Encoder Output Resolution)
÷ 4
( In this example, 128
÷ 4 = 32)