YASKAWA Sigma-7 SGD7S Series

Step Description Machine Configuration
1 Linear
Encoder Pitch
0.02 mm (20 μm)
2 Reference
Unit
0.001 mm (1 μm)
3 Electronic
Gear Ratio*
A 20 (mm)
B
1 (mm)
=
×
1
1
4 Position User
Unit (2301h)
Numerator: 256
Denominator: 20
6.15.3 Setting the Speed Reference Unit
Set the speed reference unit [Vel. Unit] in Velocity User Unit (2302h).
The query of validity is Max. Motor velocity (2312h) £ 2
31
If the setting range is exceeded, an A.A20 alarm (Parameter Setting
Error) will occur.
Index Sub-
index
Name Data
Type
Access PDO
Map-
pings
Value Saving
to
EEPRO
M
2302h 1 Numer-
ator
UDINT RW No 1 £ Value
range £
2
31
-1(def
ault: 1)
Yes
2 Denomi-
nator
UDINT RW No 1 £ Value
range £
2
31
-1(def
ault: 1)
Yes
Speed Reference Unit Setting Example (Electronic Gear Ratio Setting Example for a
Ball Screw, Ball screw lead = 6 mm, Encoder resolution = 16,777,216 inc (24 bits))
Ä ‘Electronic Gear Ratio Setting Examples’ page 184
n Velocity User Unit (2302h)
Converting one user-defined velocity reference unit [0.1 mm/s] into [inc/ms]:
16,777,216
60,000
1 [Vel. unit]
=
=
=
16,777,216 [inc]
6 [mm]
´
0.0001 [mm/ms]
[inc/ms]
0.1 mm/s = 0.0001 [mm/ms]
Fig. 133: Speed Reference Unit Setting Example
Therefore, the objects are set as follows:
Object 2302h:01 (Numerator) = 16,777,216
Object 2302h:02 (Denominator) = 60,000
Example
Sigma-7 Series SERVOPACKs
Basic Functions That Require Setting before Operation
Setting Unit Systems > Setting the Speed Reference Unit
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