Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 91)

4 Operation
4.2.4 Electronic Gear
4-8
4.2.4 Electronic Gear
The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to
be set to any value. The minimum position data moving a load is called a reference unit.
(1) Electric Gear Ratio
Set the electric gear ratio using Pn20E and Pn210.
If the gear ratio of the motor and the load shaft is given as n/m where m is the rotation of the motor and n is the
rotation of the load shaft,
To move a workpiece 10 mm:
When the Electronic Gear is Not Used:
Calculate the revolutions.
1 revolution is 6 mm. Therefore, 10/6 revolutions.
Calculate the required reference pulses.
1048576 pulses is 1 revolution. Therefore, 10/6 × 1048576 = 1747626.66
⋅⋅⋅ pulses.
Input 1746928 pulses as reference pulses.
Reference pulses must be calculated per reference.
→ complicated
When the Electronic Gear is Used:
The reference unit is 1 μm. Therefore, to move the workpiece 10 mm (10000μm),
1 pulse = 1
μm, so 10000 ÷ 1 = 10000 pulses.
Input 10000 pulses as reference pulses.
Calculation of reference pulses per reference is not required. → simplified
Ball screw pitch: 6 mm
Workpiece
Encoder resolution (20 bit) 1048576
1
2
3
Pn20E
Electronic Gear Ratio (Numerator)
Classification
Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 4 After restart Setup
Pn210
Electronic Gear Ratio (Denominator)
Classification
Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 1 After restart Setup
Position
Position
Electronic gear ratio: =
A
B
Pn210
Pn20E
=
n
m
Encoder resolution
Travel distance per load
shaft revolution (reference units)
×