Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 94)

5.2 Command Related Parameters Details
5-5
5
Command Related Parameters
(2) Setting the Electronic Gear Ratio
Use the parameters Pn20E and Pn210 to set the electronic gear ratio.
If the decelerator ratio of the motor and load shaft is given as n/m, where m is the rotation of the motor and n
is the rotation of the load shaft,
„ Encoder Resolution
Encoder resolution can be checked with servomotor model designation.
Pn20E
Electronic Gear Ratio (Numerator)
Classification
Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 (2 30 ) – 4 After restart Setup
Pn210
Electronic Gear Ratio (Denominator)
Classification
Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 (2 30 ) – 1 After restart Setup
Position
Position
B Pn20E Encoder resolution m
= = ˜
A Pn210 Travel distance per load shaft rotation
(reference unit)
Electronic gear ratio
n
Electronic gear ratio setting range: 0.001 ≤ Electronic gear ratio (B/A) ≤ 4000
If the electronic gear ratio is outside this range, a parameter setting error (A.040) will be
output.
SGM V
Symbol Specification Encoder Resolutions
Symbol Specification Encoder Resolutions
3 20-bit absolute 1048576
D 20-bit incremental 1048576
A 13-bit incremental 8192
SGMPS
2 17-bit absolute 131072
C 17-bit incremental 131072