Examples and tips
PROGRAMMING MANUAL 240
Revision 3.0
fig. 18
Parameter Pn202 is the electronic gear ratio denominator (G1).
Parameter Pn203 is the electronic gear ratio numerator (G2). The
servo motor rotates using the value of the position command signal
sent by the TJ1-MC__, multiplied by the electronic gear (Pn202,
Pn203). On the output (servo motor) side, the signal is expressed
in number of encoder pulses. For more information on Servo Driver
parameters Pn202 and Pn203, see the Sigma-II Servo Driver
manual.
The UNITS axis parameter effectively expresses the ratio between
user units that the user wants to use in the program and the
position sent to the Servo Driver via the MECHATROLINK-II bus.
Taking the electronic gear setting into account, the equation
expressing the relation between user units, the UNITS parameter,
parameters Pn202 and Pn203, encoder pulses and mechanical
measurement units is:
where y is the number of encoder counts and x is the amount in
user units.
Trajexia Servo Driver
MOVE(x)
reference_units,
the minimum unit you can set
internally to the servo
driver
* UNITS
*Pn202/Pn203
Motor
encoder
encoder_counts, the
ultimate minimum distance
you can recognize and
depends on the encoder
Pn202 y·encoder _ counts
Pn203 x·user _ units
UNITS =
.
I52E-EN-03.book Seite 240 Freitag, 29. Juni 2007 11:55 11
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