YASKAWA MP2000 Series User Manual page 95

5.4 MP2000 Series Machine Controller Parameter Details
5.4.1 Motion Fixed Parameter Details
( 13 ) Encoder Settings
No. 34 (Rotary Motor)
Rated Motor Speed
Set the rated motor speed in 1 min
Description
Set this parameter based on the specifications of the motor that is used.
No.34 (Linear Motor)
Rated Speed
Set the rated speed.
Set the rated speed in accordance with the specifications of the linear servomotor to be used.
Description
No. 36 (Rotary Motor)
Number of Pulses per Motor Rotation
Set the number of feedback pulses per motor rotation.
Set the value before multiplication to match the specifications of the motor used.
(For example, if a 16-bit encoder is used, set 2
Description
When using the SVA-01 Module in combination with a SGDM, SGDH, SGDS, SGDV, or SGD7S SERVOPACK, set the
value in accordance with the SERVOPACK PG dividing ratio:
Parameter Pn201 or Pn212 for SGDM, Pn201 for SGDH, and Pn212 for SGDS, SGDV, and SGD7S SERVOPACKs.
No.36 (Linear Motor)
Number of Pulses per Linear Scale Pitch
Set the number of pulses equivalent to the value set for No.6: Linear Scale Pitch.
Set the value in accordance with the specifications of the linear motor to be used.
Description
No. 38
Maximum Number of Absolute Encoder Turns Rotation
Set the maximum number of rotations for the absolute encoder to the highest number that the encoder can man-
age.
Set this parameter to match the settings of the encoder being used.
• Σ-I series: Set to 99999 (fixed).
• Σ-II, Σ-III, Σ-V, or Σ-7 Series: Set to the same value as the multiturn limit in the SERVOPACK.
<Example>
For axes set as infinite axes (bit 0 of fixed parameter Function Selection Flag 1 set to 1), set to 65534 max. (same value as
Pn205).
Description
This parameter is used to manage position information when an absolute encoder is used as an infinite length axis.
No. 42
Feedback Speed Movement Averaging Time Constant
Set the moving average time constant for the feedback speed.
The feedback speed is obtained by converting the unit of the difference between feedback pulse inputs in one control
cycle and the next control cycle. To avoid the scattering of the values caused by quantization error, a moving average can
Description
be applied to the calculation of feedback speed.
In the parameter Feedback Speed (monitoring parameter IL40), the value obtained by applying the moving average
for the time constant set in this parameter to the feedback position of each scan is stored.
5-24
−1
 Refer to 6.1.8 Linear Scale Pitch and Rated Motor Speed on page 6-15 for details.
 Refer to 6.1.8 Linear Scale Pitch and Rated Motor Speed on page 6-15 for details.
Finite Axes
Parameter 38 and Pn205 = 65535
+32767
Multiturn
Forward
data
rotation
0
−32768
Setting Range
units.
Setting Range
Setting Range
14
= 16384.)
Setting Range
Setting Range
Infinite Axes
Parameter 38 and Pn205 ≠ 65535
Multiturn
Reverse
data
rotation
Revolutions
0
Setting Range
Setting Unit
−1
1 to 32000
min
Setting Unit
0.1m/s,
1 to 32000
0.1mm/s
Setting Unit
31
pulse
−1
1 to 2
Setting Unit
pulses/scale
31
1 to 2 -1
pitch
Setting Unit
31
revs
−1
1 to 2
Pn205 value
Forward Reverse
rotation rotation
Revolutions
Setting Unit
0 to 32 ms
Default Value
3000
Default Value
3000
Default Value
16384
Default Value
65536
Default Value
65534
Default Value
10