— 7-44 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
7.2. For More Advanced Operation
7.2.2. Incremental Position Scale (For Incremental Position Sensor)
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
7.2.2. Incremental Position Scale (For Incremental Position Sensor)
l The ESB Driver Unit has its own position scale, and every positioning operations and setting of
software over travel limit should be done along the position scale.
7.2.2.1. Resolution of Position Scale
l There are fifty teeth inside the Motor to define the position, and a tooth is divided into 16 384
with digital signal processing. Therefore the resolution for one revolution of the Motor shall be
obtained as follow.
16 384 × 50 = 819 200 [pulse/revolution]
l Unit of motion distance in positioning (AR, AD, IR and ID commands) and position of software
over travel limit shall be the resolution of the position scale.
Table 7-17: Resolution of position scale
Resolution of position scale
Unit of pulse [pulse/rev] Unit of degree [0.01°/rev]
819 200 36 000
* However the set data of the software over travel limit must be the unit of pulse.
7.2.2.2. Direction of Position Scale
！
Caution: Signals OTP and OTM of hardware over travel limit are fixed to CW and
CCW respectively regardless the setting of the DI parameter for a safety
precaution.
l You may reverse the sign of position scale not to hinder operations when the Motor mounting
direction is reversed.
à CW or CCW is a direction when you look the Motor from the Motor output axis
(rotor).
à The DI data (DI command) defines counting direction of the coordinate.
à Relation between the DI data and the mounting direction is shown below.
Table 7-18
DI data Setting CW CCW Shipping set
0
Standard Counting in plus Counting in minus
ü
1
Reversed Counting in minus Counting in plus
l When the sign of position scale is reversed, the sign of following functions will be reversed as
well.
à Direction of all positioning operations
à Software over travel limit
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