Yaskawa JAPMC-MC2300 - Manual (Page 126)

6.1 Example Setting of Motion Parameters for the Machine
6.1.1 Reference Unit
6-2
6.1 Example Setting of Motion Parameters for the Machine
Set the following eight motion parameters to enable motion control that suits the machine’s specifications.
• Reference unit
• Electronic gear
• Axis Type selection
• Position Reference
• Speed Reference
• Acceleration/Deceleration Settings
• Acceleration/Deceleration Filter Settings
• Linear Scale Pitch/Rated Speed (when using a linear motor)
The following tables provide details of setting examples for the above items.
6.1.1 Reference Unit
Pulses, millimeters, degrees, or inches can be used as the reference unit for motion control. The reference unit is spec-
ified in Reference Unit Selection (motion fixed parameter 4).
The minimum reference unit that can be specified is determined by the setting of Number of Digits below Decimal
Point (motion fixed parameter 5).
6.1.2 Electronic Gear
In contrast to the reference unit input to the Machine Controller, the moving unit in the mechanical system is called the
"output unit." The electronic gear converts position or speed units from reference units to output units for the mechani-
cal system without going through an actual mechanism, such as a gear.
When the axis at the motor has rotated m times and the mechanical configuration allows the axis at the load to rotate n
times, this electronic gear function can be used to make the reference unit equal to the output unit.
The electronic gear function is enabled when the following settings are made:
• Fixed Parameter 6: Travel distance per machine rotation
• Fixed Parameter 8: Servo motor gear ratio
• Fixed Parameter 9: Machine gear ratio
The electronic gear is disabled when pulse is specified as the Reference Unit.
The following setting example uses ball screw and rotating table workpieces.
Motion Fixed Parameter 5:
Number of Digits below
Decimal Point
Motion Fixed Parameter 4: Reference Unit Selection
0: pulse 1: mm 2: deg 3: inch
0: 0 digits 1 pulse 1 mm 1 deg 1 inch
1: 1 digits 1 pulse 0.1 mm 0.1 deg 0.1 inch
2: 2 digits 1 pulse 0.01 mm 0.01 deg 0.01 inch
3: 3 digits 1 pulse 0.001 mm 0.001 deg 0.001 inch
4: 4 digits 1 pulse 0.0001 mm 0.0001 deg 0.0001 inch
5: 5 digits 1 pulse 0.00001 mm 0.00001 deg 0.0001 inch
Minimum
reference
unit