3.2.20 Restrictions In Using Servo Commands - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.20 Restrictions in Using Servo Commands

3.2.20 Restrictions in Using Servo Commands

Travel Distance Restrictions for the ZRET (Zero Point
Return) Command
If you use the ZRET (Zero Point Return) command for a Σ-7-Series Rotary Servomotor, the fol-
lowing restrictions apply according to the setting of the electronic gear ratio.
Electric Gear Ratio
(Pn20E/Pn210)
Travel Distance Restrictions for the EX_POSING (External
Input Positioning) and EX_FEED (External Input Feed) Com-
mands
If you use the EX_POSING (External Input Positioning) or EX_FEED (External Input Feed) com-
mand for a Σ-7-Series Rotary Servomotor, the following restrictions apply according to the set-
ting of the electronic gear ratio.
Electric Gear Ratio
(Pn20E/Pn210)
Travel Distance Restrictions for the TPOS (Target Position)
If you use TPOS (Target Position) for a Σ-7-Series Rotary Servomotor, the following restrictions
apply according to the setting of the electronic gear ratio.
Electric Gear Ratio
(Pn20E/Pn210)
Deceleration Time Restrictions during Position Control
If you use a positioning command (i.e., POSING, FEED, EX_FEED, EX_POSING, or ZRET) for a
Σ-7-Series Rotary Servomotor, the following restrictions apply to the deceleration time.
Electric Gear Ratio
(Pn20E/Pn210)
3-54
Travel Distance
Distance equivalent to ±64 rotations
1/1
Distance equivalent to ±128 rotations
2/1
Distance equivalent to ±256 rotations
4/1
Distance equivalent to ±1,024 rotations
16/1
Travel Distance
Distance equivalent to ±64 rotations
1/1
Distance equivalent to ±128 rotations
2/1
Distance equivalent to ±256 rotations
4/1
Distance equivalent to ±1,024 rotations
16/1
Travel Distance
Distance equivalent to ±128 rotations
1/1
Distance equivalent to ±256 rotations
2/1
Distance equivalent to ±512 rotations
4/1
Distance equivalent to ±2,048 rotations
16/1
Deceleration Time
-1
at 750 min
1/1 20.48
2/1 40.96
4/1 81.92
16/1 327.68
Deceleration Time
-1
[s] at 1,500 min [s]
10.24
20.48
40.96
163.84
Deceleration Time Deceleration Time
-1
at 3,000 min [s] at 6,000 min
5.12
10.24
20.48
81.92
-1
[s]
2.56
5.12
10.24
40.96