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9.2. For More Advanced Operation
9.2.1. Position Scale
l The ESA25 Driver Unit has a position scale to control positioning and over-travel limit.
9.2.1.1. Resolution
l The Motor resolver has teeth for detecting its position, and each tooth is digitally divided into 4096.
In other words, the resolution of Motor is 4096 × number of teeth.
l Table 9-8 lists Motor series and the resolution.
Table 9-8 [pulse/r]
Motor series Number of teeth Resolution
YS, JS1, JS2, RS 150 614 400
SS 120 491 520
AS, BS, JS0 100 409 600
9.2.1.2. Direction of Position Scale
Caution : For your safety, the direction of the hardware over-travel limit switches are
fixed to the Motor as follow regardless the DI setting:
◊ OTP : CW direction
◊ OTM : CCW direction
l The direction of position scale counting can be switched by the DI command.
Table 9-9
DI setting CW direction CCW direction
DI0* Plus direction Minus direction
DI1 Minus direction Plus direction
* : Shipping set
l When the position scale direction is set, the directions of operations performed by the following
functions are also determined.
◊ Pulse train operation
◊ Positioning via communication (IR, ID, AR, AD, HS)
◊ Programmable indexer
◊ Home Return
◊ Jog
◊ Software over-travel limit switch
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