4 - 5
4 PARAMETERS FOR POSITIONING CONTROL
The travel value per motor rotation in this example is 0.000076[mm].
For example, when ordering the travel value of 19[mm], it becomes
249036.8[pulse] and the fraction of 0.8[pulse]. At this time, the Motion CPU
orders the travel value of 249036[pulse] to the servo motor and the fraction
is memorized in the Motion CPU.
Positioning is performed by seasoning the travel value with this fraction at
the next positioning.
(2) Number of pulses/travel value at linear servo use
Command
value
Servo amplifier
Control
units
AP
AL
Motion CPU
pulse
pulse
pulse
Feedback pulse
Linear servo motor
Linear encoder
Fig. 4.3 Linear servo use
Calculate the number of pulses (AP) and travel value (AL) for the linear encoder
in the following conditions.
Linear encoder resolution =
Number of pulses (AP)
Travel value (AL)
Linear encoder resolution: 0.05[μm]
Number of pulses (AP) [pulse]
Travel value (AL) [μm]
=
1
0.05
=
20
1.0
Set the number of pulses in "Number of pulses per rotation", and the movement
amount in "Travel value per rotation" in the actual setting.
(Note): Set the same value as the value set in the fixed parameter to the servo
parameter "PS02 (Linear encoder resolution setting Numerator)" and
"PS03 (Linear encoder resolution setting Denominator)".
Refer to the "Servo amplifier Instruction Manual" for details.
Servo amplifier type Instruction manual name
MR-J4- B
SSCNET
/H Interface AC Servo MR-J4-_B_(-RJ) Servo amplifier Instruction Manual
(SH-030106)
MR-J4W- B
SSCNET
/H Interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B/
MR-J4W2-0303B6 Servo amplifier Instruction Manual (SH-030105)
MR-J3- B-RJ004
SSCNET
Compatible Linear Servo MR-J3- B-RJ004U Instruction Manual (SH-
030054)
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