5.4 Absolute Encoders with 24-Bit Resolution
5.4.2 Self Configuration and Encoder Resolution
5-54
5.4.2
Self Configuration and Encoder Resolution
When you execute self-configuration, the link assignment is set automatically according to the
encoder information of the connected SERVOPACK.
If the resolution of the encoder exceeds 20 bits at this time, the number of pulses per encoder
rotation will automatically be set as follows so that the resolution of the encoder is equivalent to
20 bits:
• Fixed parameter No.36: 1,048,576
• SERVOPACK electronic gear ratio of 16:1 (Pn20E = 16 and Pn210 = 1)
The electronic gear ratio in the SERVOPACK parameters and the number of pulses per motor
rotation is automatically set as follows based on the resolution of the encoder:
1:1
(24 bits)
If the electronic gear ratio in the SERVOPACK parameters is set to 16:1, the reference unit incre-
ment in the MP3000 will be 16 times its size when the electronic gear ratio in the SERVOPACK
parameters is set to 1:1. In other words, a 24-bit resolution encoder will be used as a 20-bit res-
olution encoder.
If high resolution is required, set the electronic gear ratio in the SERVOPACK parameters to 1:1
and set fixed parameter No. 36 (Number of Pulses per Motor Rotation) to 16,777,216.
Continued from previous page.
Electronic Gear
Ratio in the SER-
VOPACK Param-
eters
Operation
Reference unit selection = mm
Travel distance per machine rotation = 10,000 reference units
Servomotor gear ratio = 1
Machine Gear Ratio Term = 1
Number of pulses per motor rotation = 16,777,216
If a movement of 10,000 reference units is
commanded, 16,777,216 pulses will be output.
Pn20E = 1
Pn210 = 1
Use a 24-bit absolute encoder.
The motor will rotate one rotation for a
command of 16,777,216 servo reference units.
MP3000
Σ
-7
MECHATROLINK-III
Motor
Important
Encoder
Resolution
Electronic Gear Ratio in
the SERVOPACK
Parameters
Fixed Parameter 36:
Number of Pulses Per Motor
Rotation
20 bits or lower 1:1
1,048,576
24 bits 16:1
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