Setting The Speed Reference Unit - YASKAWA SGD7S-1R9D Product Manual

5.14.2

Setting the Speed Reference Unit

Set the speed reference unit [Vel Unit] in velocity user unit (2702 hex).
For a Rotary Servomotor with an encoder resolution of 24 bits (16,777,216), Pn20E (Electronic
Gear Ratio (Numerator)) is automatically set to 16 and Pn210 (Electronic Gear Ratio (Denomina-
tor)) is automatically set to 1. Therefore, the encoder resolution will be equivalent to 20 bits
(1,048,576). Consider this when you set the position reference unit in position user unit (2701
Important
hex).
Subin-
Index
dex
0
2702 1
hex
2
Setting range: 1/128 ≤ Numerator/Denominator ≤ 8,388,608
Speed Reference Unit Setting Example (Electronic Gear Ratio Setting Example for a Ball
Example
Screw)
• Velocity User Unit (2702 Hex)
Name
Number of entries
Numerator
Denominator
(Alarm A.A20 will be detected if the setting exceeds the setting range.)
Converting one user-defined velocity reference unit [0.1 mm/s] into [inc/s]:
1 [Vel unit]
16,777,216 [inc] × (1/16)
× 0.1 [mm/s]
=
6 [mm]
1,048,576
= [inc/s]
60
Therefore, the objects are set as follows:
Object 2702 hex: 01 (Numerator) = 1,048,576
Object 2702 hex: 02 (Denominator) = 60

5.14.2 Setting the Speed Reference Unit

Data PDO
Access
Type Mappings
USINT RO No
UDINT RW No
UDINT RW No
5.14 Setting Unit Systems
Saving to
Value
EEPROM
2 No
1 to 1,073,741,823
Yes
(default: 1)
1 to 1,073,741,823
Yes
(default: 1)
5
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