YASKAWA MP2000 Series User Manual page 139

6.1 Example Setting of Motion Parameters for the Machine
6.1.8 Linear Scale Pitch and Rated Motor Speed
( 2 ) Setting Example 2
The following tables give setting examples for these linear motor, linear scale, and SERVOPACK specifications.

Linear Motor Specifications
• Rated motor speed

Linear Scale and SERVOPACK Specifications
• Linear scale pitch
• Serial converter resolution
 For SGDM, SGDH, SGDS, SGDV, and SGD7S SERVOPACKs, the set value of SERVOPACK parameter
Pn281 (Encoder Output Resolution) is actually used in place of the serial converter resolution.
• Pn281 (Encoder Output Resolution): 8 (pulses/(scale pitch
 Set Pn281 to a value of multiples of 4.
[ a ] Setting Example when Fixed Parameter No. 4 (Reference Unit Selection) is Set to 1: mm
Fixed Parameter
No. 4
No. 5
No. 6
No. 34 Rated Speed
No. 36
[ b ] Setting Example when Fixed Parameter No. 4 (Reference Unit Selection) is Set to 0: pulse
Fixed Parameter
No. 4
No. 5
No. 6
No. 34 Rated Speed
No. 36
6-16
Setting Unit
Reference Unit
–
Selection
Number of Digits
below Decimal
–
Point
Linear Scale
user units
Pitch
(0.1 μm)
0.1 m/s
Number of
Pulses per
pulse/ linear
Linear Scale
scale pitch
Pitch
Setting Unit
Reference Unit
–
Selection
Number of Digits
below Decimal
–
Point
Linear Scale
μm
Pitch
0.1m/s
Number of
Pulses per
pulse/ linear
Linear Scale
scale pitch
Pitch
: 1.5 (m/s)
: 25.6 (μm)
: 256 (division)
4)
×
Set Value
The actual reference unit is determined by settings of this
parameter and the number of digits below decimal point (fixed
mm
parameter 5).
When Number of Digits below Decimal Point = 4,
1 reference unit = 0.0001 (mm) = 0.1 (μm)
When Number of Digits below Decimal Point = 4 or more, the
4 linear scale pitch 25.6 (μm) can be expressed in an integral num-
ber. Therefore, set to 4.
1 reference unit = 0.1 (μm) because Number of Digits below
256
Decimal Point = 4. Therefore, set to 256 (0.1 μm)
Set to 15: The value of linear motor rated speed 1.5 (m/s) con-
15
verted in units of 0.1 m/s.
Set to the result of division: Pn281 (Encoder Output Resolution)
÷ 4
2
(In this example, 8 ÷ 4 = 2)
Set Value
pulse
This parameter is invalid when "pulse" is selected for Reference
–
Unit.
When "pulse" is selected for Reference Unit, the setting unit of
this parameter is fixed to "μm". However, the linear scale pitch
25.6 (μm) cannot be expressed in an integral number in this set-
256
ting unit.
Therefore, adjust the linear scale pitch by multiplying by 10 and
set to the result of multiplication: 256.
The value of the linear motor rated speed 1.5 (m/s) converted in
0.1 m/s is 15. However, the actual linear scale pitch multiplied
150
by 10 is set for Linear Scale Pitch. To keep equivalence, set to
the value of the actual rated speed multiplied by 10: 150.
Set to the result of division: Pn281 (Encoder Output Resolution)
2 ÷ 4
(In this example, 8 ÷ 4 = 2)
Description
Description
–