Omron trajexia CJ1W-MCH72 Operation Manual page 297

How-to's
5-1-3-1 Conversion between encoder counts and user defined units
Note
286
However, the user must be aware that not only the UNITS axis parameter
matters in the conversion between encoder counts and user defined units.
Certain Servo Driver parameters and some characteristics of the mechanical
system are also important. The following sections describe which Servo Driver
parameters are important for this conversion. We also give examples of how to
set those parameters and the UNITS axis parameter, taking the characteristics
of the mechanical system into account.
Two very important parameters of the Servo Drivers for conversion of encoder
counts into user units are the electronic gear ratio numerator and the
electronic gear ratio denominator. The table below gives these parameters for
the Servo Drivers.
/i
Servo Driver
Sigma-II
Sigma-V
Junma
G-series
The remainder of this section uses the parameters of the Sigma-II Servo Driver, that is,
Pn202 and Pn203. If you use a Sigma-V, a Junma or G-series Servo Driver, you must
use the corresponding parameters.
If a servo motor with an absolute encoder is used, setting parameter Pn205
(Multiturn limit) is also necessary.
Trajexia
MOVE(x)
reference_units,
the minimum unit you can set
internally to the servo
driver
* UNITS
Parameter Pn202 is the electronic gear ratio denominator (G1). Parameter
Pn203 is the electronic gear ratio numerator (G2). The servo motor rotates
using the value of the position command signal sent by the CJ1W-MCH72,
multiplied by the electronic gear (Pn202, Pn203). On the output (servo motor)
side, the signal is expressed in number of encoder pulses. For more
information on Servo Driver parameters Pn202 and Pn203, see the Sigma-II
Servo Driver manual.
Numerator
Pn202
Pn20E
Pn20E
Pn205
Servo Driver
encoder_counts,
the ultimate minimum distance
you can recognize and
depends on the encoder
*Pn202/Pn203
Section 5-1
Denominator
Pn203
Pn210
Pn210
Pn206
Motor
encoder