YASKAWA SVC - Page 374

5.2 Absolute Encoders
5.2.6 Position Management Method for Each Machine Operation Type
5-33
5
Machine-Specic Motion Control
 Fixed Parameter Settings Required for an Absolute Encoder System
The following table lists the fixed parameters that must be set to perform infinite-length opera-
tion using simple absolute infinite axis position management.
*1. Electronic gear settings are invalid when the pulse is selected as the reference unit.
*2. N is the number of encoder bits.
• Fixed Parameter Setting Example
The following table gives a fixed parameter setting example for infinite-length operation using
simple absolute infinite axis position management.
Reset number of turns = (360,000 × 6)/(360,000 × 5) = 6/5
Formula for determining if simple infinite axis position management can be used: (59,705 + 1)/
(6/5) = 49,755
Because the above formula results in an integer with a remainder of 0, simple absolute infinite-
length position management can be used.
No. Name Setting
Setting
Unit
Reference
4 Reference Unit Selection
0: pulse
*1
1: mm
2: deg
3: inch
4: μm
–
 Reference Unit Selection on
page 3-31
30 Encoder Selection 1: Absolute encoder –
 Encoder Selection on page 3-
33
6
Travel Distance per Machine
Rotation
1 to 2
31
− 1
Refer-
ence
units
–
8 Servomotor Gear Ratio Term 1 to 65,535
Rota-
tions
–
9 Machine Gear Ratio Term 1 to 65,535
Rota-
tions
–
10
Infinite-length Axis Reset
Position (POSMAX)
1 to 2
31
− 1
Refer-
ence
units
–
36
Number of Pulses Per Motor
Rotation
2
N *2
pulse
 Number of Pulses Per Motor
Rotation on page 5-34
38
Maximum Number of Absolute
Encoder Rotations
0 to 2
31
− 1
Rota-
tions
 Maximum Number of Abso-
lute Encoder Rotations on page
3-35
No. Name Setting Unit
4 Reference Unit Selection 2 deg
30 Encoder Selection 1 Absolute encoder
6 Travel Distance per Machine Rotation 360000 Reference unit = Degrees
8 Servomotor Gear Ratio Term 6 Rotations
9 Machine Gear Ratio Term 5 Rotations
10
Infinite-length Axis Reset Position (POS-
MAX)
360000 Reference unit = Degrees
36 Number of Pulses Per Motor Rotation 16384 pulse
38
Maximum Number of Absolute Encoder
Rotations
59705 Rotations