YASKAWA E-7-Series SGD7S - External Absolute Encoder Data Reception Sequence; Electronic Gear Setting; Alarm Detection Settings; External Absolute Encoder Data Reception

10.3 Parameter Settings for Fully-Closed Loop Control
10.3.5 External Absolute Encoder Data Reception Sequence
10-8
Related Parameters
Note: The maximum setting for the encoder output resolution is 4,096.
If the resolution of the external encoder exceeds 4,096, pulse output will no longer be possible at the resolu-
tion given in
 Feedback Resolution of Linear Encoder on page 5-48.
10.3.5 External Absolute Encoder Data Reception Sequence
Refer to the following section for details.
6.13.4 Reading the Position Data from the Absolute Linear Encoder on page 6-85
With fully-closed loop control, the same sequence as for a Linear Servomotor is used.
10.3.6 Electronic Gear Setting
Refer to the following section for details.
5.16 Electronic Gear Settings on page 5-46
With fully-closed loop control, the same setting as for a Linear Servomotor is used.
10.3.7 Alarm Detection Settings
This section describes the alarm detection settings (Pn51B and Pn52A).
Pn51B (Excessive Error Level between Servomotor and
Load Positions)
This setting is used to detect the difference between the feedback position of the motor
encoder and the feedback load position of the external encoder for fully-closed loop control.
If the detected difference exceeds the setting, an A.d10 alarm (Motor-Load Position Error Over-
flow) will be output.
Note: An A.d10 alarm will not be output if this parameter is set to 0.
Pn52A (Multiplier per One Fully-closed Rotation)
Set the coefficient of the deviation between the motor and the external encoder per motor rota-
tion.
This setting can be used to prevent the motor from running out of control due to damage to the
external encoder or to detect belt slippage.
If the setting is 20 and the speed is 1,600 mm/s, the output frequency would be 1.6 Mpps
= 1,600,000 = 1.6 Mpps
Because 1.6 Mpps is less than 6.4 Mpps, this setting can be used.
Pn281
Encoder Output Resolution
Setting Range Setting Unit Default Setting When Enabled Classification
1 to 4,096 1 edge/pitch 20 After restart Setup
Example
1600 mm/s
0.001 mm
Position
Pn51B
Excessive Error Level between Servomotor and Load Positions
Setting Range Setting Unit Default Setting When Enabled
Classifica-
tion
0 to
1,073,741,824
1 reference unit 1000 Immediately Setup
Position