Inovance IS810N-INT Series - Page 165

IS810N-INT Series Servo System User Manual (Brief)Chapter 6 Commissioning Software
- 165 -
Sub-index
0h
Name
Highest sub-index
supported
Setting &
Effective
-
Data
Structure
-
Data
Type
Uint16
Access RO Mapping NO
Control
Mode
-
Data
Range
- Default 2
Sub-index
0h
Name
Highest sub-index
supported
Setting &
Effective
During
running
Immediate
Data
Structure
-
Data
Type
Uint16
Access RW Mapping RPDO
Control
Mode
-
Data
Range
1 to
(2
32
-1)
Default
Set
according
to the
encoder
resolution
Sub-index
0h
Name
Highest sub-index
supported
Setting &
Effective
During
running
Immediate
Data
Structure
-
Data
Type
Uint16
Access RW Mapping RPDO
Control
Mode
-
Data
Range
1 to
(2
32
-1)
Default 1
For encoders with 20-bit resolution, the default value of the IS810N gear ratio 6091-01/6091-02 is 1:1.
For encoders with 23-bit resolution, the default value of the IS810N gear ratio 6091-01/6091-02 is 8:1.
The gear ratio is within the range: (0.001 x Encoder resolution/10000, 4000 x Encoder resolution/10000).
If this range is exceeded, Er.B03 (gear ratio setting exceeding limit) will be detected.
Take the load ball screw as an example.
Minimum reference unit fc = 1 mm
Lead PB = 10 mm/r
Reduction ratio n = 5:1
Inovance 20-bit serial encoder resolution P = 1048576(p/r)
The position factor is calculated as follows:
Position factor:
Therefore, 6091-1h = 524288, 6091-2h = 1, which means that when the drive shaft
displacement is 1 mm, the motor displacement is 524288.
The ratio of 6091-1h and 6091-2h must be reduced to without common divisor.