Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual de usuario descargar pdf (Pagina 94)

5.2 Command Related Parameters Details

5-5

Command Related Parameters

(2) Setting the Electronic Gear Ratio

Use the parameters Pn20E and Pn210 to set the electronic gear ratio.

If the decelerator ratio of the motor and load shaft is given as n/m, where m is the rotation of the motor and n

is the rotation of the load shaft,

 Encoder Resolution

Encoder resolution can be checked with servomotor model designation.

Pn20E

Electronic Gear Ratio (Numerator)

Classification

Setting Range Setting Unit Factory Setting When Enabled

1 to 1073741824 (2

)

– 4 After restart Setup

Pn210

Electronic Gear Ratio (Denominator)

Classification

Setting Range Setting Unit Factory Setting When Enabled

1 to 1073741824 (2

)

– 1 After restart Setup

Position

B Pn20E Encoder resolution m

= = 

A Pn210 Travel distance per load shaft rotation

(reference unit)

Electronic gear ratio

Electronic gear ratio setting range: 0.001 ≤ Electronic gear ratio (B/A)

≤

4000

If the electronic gear ratio is outside this range, a parameter setting error (A.040) will be

output.

SGMV

Symbol Specification Encoder Resolutions

3 20-bit absolute 1048576

D 20-bit incremental 1048576

A 13-bit incremental 8192

SGMPS

2 17-bit absolute 131072

C 17-bit incremental 131072

1 2 ... 89 90 91 92 93 94 95 96 97 98 99 ... 141 142

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Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual de usuario Pagina 94