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Commissioning
32-10 Rotational Direction
Normally, a positive reference value initiates a positive change of
the position. If not, the reference value can be reversed
internally.
Option:
Function:
[4]
User Units and
The sign of the reference value is
Reference
reversed internally; in addition, the sign
reversed (–2)
of the user unit is negated as in option
[3].
32-11 User Unit Denominator
Range:
Function:
1
[1 to
All path information in motion commands is
*
1073741823]
made in user units and are converted to quad-
counts internally. By selecting these scaling
units correspondingly, it is possible to work
with any technical measurement unit (for
example mm). This factor is a fraction, which
consists of a numerator and denominator.
P32-12 User Unit Numerator
1 UU =
P32-11 User Unit Denominator
Scaling determines how many quad-counts
make up a user unit. For example, if it is
50375/1000, then 1 UU corresponds to exactly
50.375 qc.
32-12 User Unit Numerator
Range:
Function:
1
[1 to
All path information in motion commands is
*
10737418237/
made in user units and is converted to quad-
max. position
counts internally. By selecting these scaling
(UU)]
units correspondingly, it is possible to work
with any technical measurement unit (for
example mm). This factor is a fraction, which
consists of a numerator and denominator.
P32-12 User Unit Numerator
1 UU =
P32-11 User Unit Denominator
Scaling determines how many quad-counts
make up a user unit.
Example 1
Shaft or spindle
25 motor revolutions result in 1 spindle
revolution; gearing factor = 25/1
Encoder resolution (incremental encoder) =
500
Spindle gradient = 1 revolution of the spindle
= 5 mm
Scaling factor when working with 1/10 mm
resolution = 5 x 10 = 50
25
1
500
4
50
Illustration 5.1 Example 1
Parameter 32-12 User Unit Numerator = 1000
MG33R302
Operating Instructions
25
10
4
1000
qc =
qc =
qc = 1 UU
1
1
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32-12 User Unit Numerator
Range:
Function:
Parameter 32-11 User Unit Denominator = 1
Example 2
Cylinder
Gear factor = 5/1
Encoder resolution (incremental encoder) =
500
One revolution of the cylinder is 360 degrees.
Work with a resolution of 1/10 degrees, which
means that 1 revolution of the cylinder is
divided into 3600 units.
Scaling factor = 3600
5
1
500
3600
25
qc = 1 UU =
9
Illustration 5.2 Example 2
Parameter 32-12 User Unit Numerator = 25
Parameter 32-11 User Unit Denominator = 9
32-14 Encoder 2 node ID
Range:
Function:
127
[1-127]
Enter the feedback CAN encoder node ID.
*
32-15 Encoder 2 CAN Guard
Feedback CAN encoder guardians can be enabled or disabled.
Option:
Function:
[0]
Off
Default setting. No monitoring.
*
[1]
On
Feedback CAN encoder is monitored.
5.6.2 32-3* and 32-4*, Encoder 1
Parameters
The 32-3* and 32-4* parameters configure the interface for
encoder 1.
32-30 Incremental Signal Type
Specifies the type of incremental encoder connected to Encoder 1
interface (X56 and X62 if a CAN encoder is used).
Option:
Function:
[0]
None
No incremental encoder is
connected.
[1]
RS422 (5 V TTL)
A digital incremental encoder with
*
an interface according to RS-422 is
connected.
[3]
CAN encoder
An encoder with a CAN interface is
connected.
4
5
500
4
qc =
qc = 1 UU
3600
Parameter 32-12 User Unit Numerator
Parameter 32-11 User Unit Denominator
31
5
5
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