YASKAWA Sigma-7 SGD7S Series

Parameter Name Description When Ena-
bled
Classifica-
tion
n.2
Reserved parameter
(Do not change.)
n.3
External encoder
moves in reverse
direction for CCW
motor rotation.
n.4
Reserved parameter
(Do not change.)
Determine the setting of Pn002 = n.X  as described below.
– Set Pn000 to n.  0 (Use the direction in which the linear encoder
counts up as the forward direction) and set Pn002 to n.1
 (The
external encoder moves in the forward direction for CCW motor rota-
tion).
– Manually rotate the motor shaft counterclockwise.
– If the fully-closed feedback pulse counter counts up, do not change
the setting of Pn002 (Pn002 = n.1  ).
– If the fully-closed feedback pulse counter counts down, set Pn002 to
n.3
 .
11.4.4 Setting the Number of External Encoder Scale Pitches
Set the number of external encoder scale pitches per Servomotor rotation in Pn20A.
Specifications
n External encoder scale pitch: 20 μm
n Ball screw lead: 30 mm
Number of external encoder
pitches per motor rotation
External encoder
(scale pitch: 20 mm)
Workpiece position
after movement
Workpiece position
before movement
Ball screw lead: 30 mm
Fig. 336: Setting Example - Number of External Encoder Scale Pitches
If the external encoder is connected directly to the Servomotor, the setting will be 1,500
(30 mm/0.02 mm = 1,500).
– If there is a fraction, round off the digits below the decimal point.
– If the number of external encoder scale pitches per Servomotor rota-
tion is not an integer, there will be deviation in the position loop gain
(Kp), feedforward, and position reference speed monitor. This is not
relevant for the position loop and it therefore does not interfere with
the position accuracy.
Setting Example
Sigma-7 Series SERVOPACKs
Fully-Closed Loop Control
Parameter and Object Settings for Fully-closed Loop Control > Setting the Number of External Encoder Scale Pitches
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