Electronic Gear; Alarm Detection - YASKAWA SGMJV User Manual

9.2.6 Electronic Gear

For the electronic gear setting, refer to 5.4.3 Electronic Gear.
Note: When using a serial converter unit, set the encoder resolution as follows.
• For the encoder manufactured by Heidenhain Corp.: Pn20A set value × 256
• For the encoder manufactured by Renishaw Inc.: Pn20A set value × 256
• For the encoder manufactured by Mitutoyo Corp.: Pn20A set value × 512
Example of how to set an electronic gear.
Use Pn20E as numerator B and Pn210 as denominator A to set the travel distance for each position reference
pulse. The travel distance can be calculated by the following equation. Set Pn20E and Pn210 to integral val-
ues.
B Pn20E
= =
A Pn210
For example, if the travel distance for each position reference pulse is 0.2 µm, then the electric gear ratio is
calculated as follows.
B Pn20E
= =
A Pn210

9.2.7 Alarm Detection

The setting of alarm detection (Pn51B/Pn52A) is shown below.
(1) Excessive Error Level between the Motor and Load Positions (Pn51B)
This setting detects the difference between the external encoder position and the encoder position. If the
detected difference is above the set level, alarm A.d10 (Motor-load Position Error Pulse Overflow) will be
output.
Excessive Error Level Between
Servomotor and Load Positions
Pn51B
Setting Range
0 to 1073741824 (2
Note: When Pn51B is set to 0,
(2) Multiplier for One Fully-closed Rotation (Pn52A)
The coefficient of the deviation between the external encoder and the motor per rotation can be set. This func-
tion can be used to prevent the motor from running out of control due to damage to the external encoder or to
detect slippage of the belt.
Travel distance per position reference pulse (reference unit) × 256
=
Extarnal encoder pitch
0.2 × 2.56
512
= =
20 200
Setting Unit
30
1 reference unit
)
"
Motor-load Position Error Pulse Overflow (A.d10)
9.2 Settings for Fully-closed Loop Control
Position
Factory Setting When Enabled
1000 Immediately
"
is not detected.
Classifica-
tion
Setup
9
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