Yaskawa JAPMC-MC2300 - Manual (Page 140)

6.1 Example Setting of Motion Parameters for the Machine
6.1.8 Linear Scale Pitch and Rated Motor Speed
6-16
( 2 ) Setting Example 2
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 : 25.6 ( 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): 8 (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 = 4,
1 reference unit = 0.0001 (mm) = 0.1 (
μm)
No. 5
Number of Digits
below Decimal
Point
– 4
When Number of Digits below Decimal Point = 4 or more, the
linear scale pitch 25.6 (
μm) can be expressed in an integral num-
ber. Therefore, set to 4.
No. 6
Linear Scale
Pitch user units
(0.1 μm)
256
1 reference unit = 0.1 ( μm) because Number of Digits below
Decimal Point = 4. Therefore, set to 256 (0.1 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
2
Set to the result of division: Pn281 (Encoder Output Resolution)
÷ 4
( In this example, 8 ÷ 4 = 2)
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". However, the linear scale pitch
25.6 ( μm) cannot be expressed in an integral number in this set-
ting unit.
Therefore, adjust the linear scale pitch by multiplying by 10 and
set to the result of multiplication: 256.
No. 34 Rated Speed 0.1m/s 150
The value of the linear motor rated speed 1.5 (m/s) converted in
0.1 m/s is 15. However, the actual linear scale pitch multiplied
by 10 is set for Linear Scale Pitch. To keep equivalence, set to
the value of the actual rated speed multiplied by 10: 150.
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, 8
÷ 4 = 2)