Estun Summa Series - Chapter 12 Appendix; Homing Mode; Position Control Function

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-2
Subindex
Name
Data Type
Access
PDO Mapping
Related Mode
01
Numerator
UINT32
RW
No
02
Denominator
UINT32
RW
No
The resolutions of the Motor encoder with different bit are as follows:
 The general incremental encoder outputs 10,000 pulses per 1 revolution
 The resolver outputs 65536 pulses per 1 revolution
 The 17-bit encoder outputs 131072 pulses per 1 revolution
 The 20-bit encoder outputs 1048576 pulses per 1 revolution
 The 23-bit encoder outputs 8388608 pulses per 1 revolution
Setting Example
Take the load ball screw as an example: Minimum reference unit fc＝1 mm, Lead pB＝10 mm/r,
Reduction ratio n＝5:1, 20-bit incremental encoder resolution P＝1048576;
The gear ratio is calculated as follows:
Gear radio =
Motor resolution P × n
𝑝𝐵
=
1048576 × 5
10
= 524288
Therefore, 6093-01h＝524288, 6093-01h＝1, which means that when the driving shaft displacement is 1,
the Motor displacement is 524288.
IMPORTANT
The ratio of 6093-01h and 6093-02h must be reduced to without common
divisor.