YASKAWA SGD7S-xxxDA0 series Product Manual page 187

6.14.2 Setting the Speed Reference Unit
Set the speed reference unit [Vel Unit] in velocity user unit (2702h).
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
Important
(1,048,576). Consider this when you set the position reference unit in position user unit (2701h).
Subin-
Index
dex
0
1
2702h
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 (2702h)
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 2702h: 01 (Numerator) = 1,048,576
Object 2702h: 02 (Denominator) = 60
6.14.2 Setting the Speed Reference Unit
Data PDO
Access
Type Mappings
USINT RO No
UDINT RW No
UDINT RW No
6.14 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)
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