Setting The Number Of External Encoder Scale Pitches; Setting The Number Of External Encoder Scale - YASKAWA E-7S SERVOPACK SGD7S Product Manual

10.3 Parameter Settings for Fully-Closed Loop Control

10.3.3 Setting the Number of External Encoder Scale Pitches

• Phase B leads in the divided pulses for a forward reference regardless of the setting of Pn000
= n.X.
• Forward direction: The direction in which the pulses are counted up.
• Reverse direction: The direction in which the pulses are counted down.
Related Parameters
 Pn000 = n.
Refer to the following section for details.
5.4 Motor Direction Setting on page 5-15
 Pn002 = n.X
When you perform fully-closed loop control, set Pn002 to n.1 or n.3.
Pn002
Information
10.3.3 Setting the Number of External Encoder Scale Pitches
Set the number of external encoder scale pitches per Servomotor rotation in Pn20A.
Setting Example
Specifications
External encoder scale pitch: 20 μm
Ball screw lead: 30 mm
If the external encoder is connected directly to
the Servomotor, the setting will be 1,500
(30 mm/0.02 mm = 1,500).
Note: 1. If there is a fraction, round off the digits below the decimal point.
2. If the number of external encoder scale pitches per Servomotor rotation is not an integer, there will be devi-
10-6

X

Parameter Name
n.0
(default set-
ting)

n.1
External
Encoder Usage

n.2

n.3

n.4
Determine the setting of Pn002 = n.X as described below.
• Set Pn000 to n.0 (Use the direction in which the linear encoder counts up as the for-
ward direction) and set Pn002 to n.1 (The external encoder moves in the forward
direction for CCW motor rotation).
• Manually rotate the motor shaft counterclockwise.
• If the fully-closed feedback pulse counter counts up, do not change the setting of Pn002
(Pn002 = n.1).
• If the fully-closed feedback pulse counter counts down, set Pn002 to n.3.
ation in the position loop gain (Kp), feedforward, and position reference speed monitor. This is not relevant
for the position loop and it therefore does not interfere with the position accuracy.
Meaning
Do not use an external encoder.
External encoder moves in forward
direction for CCW motor rotation.
Reserved setting (Do not use.)
External encoder moves in reverse direc-
tion for CCW motor rotation.
Reserved setting (Do not use.)
Number of external encoder
pitches per Servomotor rotation
Workpiece position
before movement
Ball screw lead: 30 mm
When Classifi-
Enabled cation
After restart Setup
External encoder
(scale pitch: 20 m)
Workpiece position
after movement