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10 USING A LINEAR SERVO MOTOR
10.4 Basic functions
Homing setting method
■Incremental linear encoder
• Interval setting of homing
When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr.
PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through
first after a homing start. Change the setting value of [Pr. PL01] according to the linear encoder resolution.
The following shows the relation between the stop interval at the homing and the linear encoder resolution. For example,
when the linear encoder resolution is 0.001 µm and [Pr. PL01.2 Homing stop interval setting] = "5" (16777216 pulses), the
linear encoder resolution is 16.777 mm.
[Unit: mm]
• Multipoint Z-phase input - Function selection
When two or more reference marks exist during the full stroke of the linear encoder, select "1" (enabled) with [Pr. PC17.1
Linear encoder multipoint Z-phase input function selection].
Servo parameter Description
PL01.2 Homing stop interval setting
0: 2
13
(= 8192) pulse
1: 2
17
(= 131072) pulse
2: 2
18
(= 262144) pulse
3: 2
20
(= 1048576) pulse
4: 2
22
(= 4194304) pulse
5: 2
24
(= 16777216) pulse
6: 2
26
(= 67108864) pulse
7: 2
30
(= 1073741824) pulse
Initial value: 3 (2
20
(= 1048576) pulse)
Pr. PL01.2 Stop interval
[pulse]
Linear encoder resolution
0.001 μm 0.005 μm 0.01 μm 0.02 μm 0.05 μm
0 8192 0.008 0.041 0.082 0.164 0.410
1 131072 0.131 0.655 1.311 2.621 6.554
2 262144 0.262 1.311 2.621 5.243 13.107
(Recommended
value)
3 1048576 1.049 5.243 10.486
(Recommended
value)
20.972
(Recommended
value)
52.429
4 4194304 4.194 20.972
(Recommended
value)
41.943 83.886 209.715
5 16777216 16.777
(Recommended
value)
83.886 167.772 335.544 838.861
6 67108864 67.109 335.544 671.089 1342.177 3355.443
7 1073741824 1073.742 5368.700 10737.418 21474.836 53687.091
Pr. PL01.2 Stop interval
[pulse]
Linear encoder resolution
0.1 μm 0.2 μm 0.5 μm 1 μm 2 μm
0 8192 0.819 1.638 4.096
(Recommended
value)
8.192
(Recommended
value)
16.384
(Recommended
value)
1 131072 13.107
(Recommended
value)
26.214
(Recommended
value)
65.536 131.072 262.144
2 262144 26.214 52.429 131.072 262.144 524.288
3 1048576 104.858 209.715 524.288 1048.576 2097.152
4 4194304 419.430 838.861 2097.152 4194.304 8388.608
5 16777216 1677.722 3355.443 8388.608 16777.216 33554.432
6 67108864 6710.886 13421.773 33554.432 67108.864 134217.728
7 1073741824 107374.182 214748.364 536870.912 1073741.824 2147483.648
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