Electronic Gear - YASKAWA SGDV series User Manual

8.3.5 Electronic Gear

Refer to 4.2.4 Electronic Gear for the purpose of setting the electronic gear.
The following formula is used to calculate the electronic gear ratio in fully-closed loop control.
Electronic gear ratio
Note: Set Pn20E (numerator B) and Pn210 (denominator A) to integral values.
The setting range is defined by 0.001 ≤
The following table shows the various external encoder sin wave pitches and the number of divisions.
External Encoder Sine Wave Pitch and Number of Divisions
Calculate the electronic gear ratio with the values in the following table.
Type of
External Manufacturer
Encoder
Heidenhain
Renishaw plc
Incremental
Magnescale Co., Ltd.
Heidenhain
Mitutoyo Corporation
Absolute
Magnescale Co., Ltd.
∗1. Models for serial converter units.
∗2. When using the encoder pulse output with these external encoders, the setting range of Pn281 is restricted. For
details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO).
∗3. Model for sensor head with interpolator.
∗4. Model for interface unit by Heidenhain.
∗5. For details on this external encoder, contact Mitutoyo.
∗6. Model for rotational external encoder.
Refer to the manuals for the external encoder and serial converter unit for details on the sine wave pitch and
the number of divisions of the external encoder.
Travel distance per reference unit × Number of divisions
B Pn20E
= = =
A Pn210 External encoder sine wave pitch
B
≤ 4000.
A
External Encoder
Model
LIDA48
LIDA18
LIF48
RGH22B
*2
SR75- LF
SR75- MF
*2
SR85- LF
SR85- MF
*2 *2
SL700 ，SL710 ，
*2 *2
SL720
，SL730
LIC4100
ST781A/ST781AL
ST782A/ST782AL
ST783/ST783AL
ST784/ST784AL
ST788A/ST788AL
*5
ST789A/ST789AL
*2
SR77- LF
SR77- MF
*2
SR87- LF
SR87- MF
*6
RU77-4096ADF
*6
RU77-4096AFFT01
8.3 Parameter Settings for Fully-closed Loop Control
Model of Relay
Sine Wave Device between
Pitch [μm] SERVOPACK and
External Encoder
20
JZDP-D003-
40
JZDP-D003-
4
JZDP-D003-
20
JZDP-D005-
80 –
80 –
80 –
80 –
*3
800
PL101-RY
*4
20.48
EIB3391Y
256 –
256 –
51.2 –
51.2 –
51.2 –
25.6 –
80 –
80 –
80 –
80 –
– –
– –
Rotation
Number
of Resolution
Divisions
∗1
0.078 μm
256
-E
∗1
0.156 μm
256
-E
∗1
0.016 μm
256
-E
∗1
256 0.078 μm
-E
0.0098 μm
8192
0.078 μm
1024
0.0098 μm
8192
0.078 μm
1024
8192 0.0977 μm
0.005 μm
4096
0.5 μm
512
0.5 μm
512
0.1 μm
512
0.1 μm
512
0.1 μm
512
0.05 μm
512
0.0098 μm
8192
1024 0.078 μm
0.0098 μm
8192
0.078 μm
1024
256 20 bits
1024 22 bits
8
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