Electronic Gear - YASKAWA SGMJV User Manual

8.3.5 Electronic Gear

Refer to 4.4.3 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
The sine wave pitches and numbers of divisions for the external encoders are given in the following table.
Calculate the electronic gear ratio with the values in the following table.
Type of
External
Encoder
Heidenhain
Renishaw plc
Incremen-
tal
Magnescale Co., Ltd.
Heidenhain
Mitutoyo Corporation
Absolute
Magnescale Co., Ltd.
∗1. If you use the encoder pulse output with these external encoders, the setting range of the encoder output resolution
(Pn281) is restricted. For details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO).
∗2. Ask your Mitutoyo Corporation representative for details on this external encoder.
∗3. This is the model of 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 (value in the following table)
B Pn20E
= = =
A Pn210 External encoder sine wave pitch (value in the following table)
B
≤ 4000.
A
External Encoder
Manufacturer
Model
LIDA48
LIF48
RGH22B
SR75-LF
SR75-MF
SR85-LF
SR85-MF
*1
SL700 , SL710
*1
SL720 , SL730
LIC4100
ST781A/ST781AL
ST782A/ST782AL
ST783/ST783AL
ST784/ST784AL
ST788A/ST788AL
ST789A/ST789AL
SR77-LF
SR77-MF
SR87-LF
SR87-MF
RU77-4096ADF
RU77-4096AFFT01
8.3 Parameter Settings for Fully-closed Loop Control
Sine Model of Relay
Wave Device between
Pitch SERVOPACK and
[μm] External Encoder
20 JZDP-D003-000-E
4 JZDP-D003-000-E
20 JZDP-D005-000-E
*1
80 –
80 –
*1
80 –
80 –
*1
,
800 PL101-RY
*1
20.48 EIB3391Y
256 –
256 –
51.2 –
51.2 –
51.2 –
*2
25.6 –
*1
80 –
80 –
*1
80 –
80 –
*3
– –
*3
– –
Num-
ber of Resolu-
Divi- tion
sions
0.078 μm
256
0.016 μm
256
0.078 μm
256
0.0098
8192
μm
0.078 μm
1024
0.0098
8192
μm
0.078 μm
1024
0.0977
8192
μm
4096 0.005 μm
512 0.5 μm
0.5 μm
512
0.1 μm
512
0.1 μm
512
0.1 μm
512
0.05 μm
512
0.0098
8192
μm
0.078 μm
1024
0.0098
8192
μm
0.078 μm
1024
256 20 bits
1024 22 bits
8
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