Moving Mode And Coordinate Settings; When The Coordinates Are The Linear Type - YASKAWA E-7S SERVOPACK SGD7S Product Manual

12.1 Moving Mode and Coordinate Settings

12.1.1 When the Coordinates are the Linear Type

12.1

Moving Mode and Coordinate Settings

Use the following parameters to set the moving mode and the coordinates.
Parameter
PnB20
PnB21
PnB23
PnB25
*
If you set PnB54 to 1 (Enable Expansion Mode), the parameter setting range will change. Refer to the following
section for details.
12.4 Speed/Position Expansion Function Setting on page 12-8

12.1.1 When the Coordinates are the Linear Type

When using the linear type coordinates such as with a ball screw, set PnB20 to 0000h and set
the forward software limit (P-LS) in PnB21and the reverse software limit (N-LS) in PnB23.
An error will occur if the positioning target position exceeds one of the software limits.
An error will also occur if +/-INFINITE is set for the target position (POS) in the program table.
If the Servomotor reaches a software limit while a jog command is being sent or during jog
speed table operation, the Servomotor will stop at the deceleration rate set in PnB2B.
If both PnB21 and PnB23 are set to 0000h, the software limit function will be disabled.
The software limit function is enabled after completion of homing. If, however, PnB31 is set to
0000h (no homing), the software limit function will be enabled when the control power supply is
turned ON. The software limit function will also be enabled as soon as the ZSET serial com-
mand is executed.
Reverse Software Limit
(N-LS): PnB23
12-2
0000h
(default Sets coordinates to linear type.
setting)
Sets coordinates to rotary type. Moving mode is set as
0001h
shortest path.
Sets coordinates to rotary type. Moving mode is always
0002h
set as forward.
Sets coordinates to rotary type. Moving mode is always
0003h
set as reverse.
• Linear coordinates (PnB20 = 0000h): Forward Software Limit (P-LS)
• Rotational coordinates (PnB20 ≠ 0000h): Last Rotational Coordinate
Setting Range Setting Unit
-99,999,999 to
1 reference unit
99,999,999*
• Linear coordinates (PnB20 = 0000h): Reverse Software Limit (N-LS)
• Rotational coordinates (PnB20 ≠ 0000h): First Rotational Coordinate
Setting Range Setting Unit
-99,999,999 to
1 reference unit
99,999,999*
• When using an incremental encoder: Origin
• When using an absolute encoder: Absolute Encoder Offset
Setting Range Setting Unit
-99,999,999 to
1 reference unit
99,999,999*
Workpiece
Meaning
Default Setting When Enabled
99,999,999
Default Setting When Enabled
-99,999,999
Default Setting When Enabled
0
Forward Software Limit
(P-LS): PnB21
When Classifica-
Enabled tion
After restart Setup
Classification
After restart Setup
Classification
After restart Setup
Classification
After restart Setup