YASKAWA Sigma-7 SGD7S Series

6.15.4 Setting the Acceleration Reference Unit
Set the acceleration reference unit [Acc. Unit] in Acceleration User Unit (2303h).
The query of validity is Max. Motor Acceleration (2313h) £ 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
2303h 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
Acceleration 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 Acceleration User Unit (2303h)
Converting one user-defined acceleration reference unit [0.1 mm/s
2
] into [10
4
inc/
s
2
]:
16,777,216
6
´
10
5
1 [Acc unit]
=
=
16,777,216 [inc]
6 [mm]
´
0.1 [mm/s
2
]
´
10
-4
[10
4
inc/s
2
]
Fig. 134: Acceleration Reference Unit Setting Example
Therefore, the objects are set as follows:
Object 2303h:01 (Numerator) = 16,777,216
Object 2303h:02 (Denominator) = 600,000
Example
6.16 Resetting the Absolute Encoder
6.16.1 Overview
In a system that uses an absolute encoder, the multiturn data must be reset at startup. An
alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute
encoder must be reset, such as when the power supply is turned ON.
When you reset the absolute encoder, the multiturn data is reset and any alarms related
to the absolute encoder are cleared.
Reset the absolute encoder in the following cases:
n When an A.810 alarm (Encoder Backup Alarm) occurs
n When an A.820 alarm (Encoder Checksum Alarm) occurs
n When starting the system for the first time
Sigma-7 Series SERVOPACKs
Basic Functions That Require Setting before Operation
Resetting the Absolute Encoder > Overview
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