2) setting the electronic gear ratio, 2) setting the electronic gear ratio -5 – Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual

Page 94

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5.2 Command Related Parameters Details

5-5

5

Command Related Parameters

(2) Setting the Electronic Gear Ratio

Use the parameters Pn20E and Pn210 to set the electronic gear ratio.

If the decelerator ratio of the motor and load shaft is given as n/m, where m is the rotation of the motor and n
is the rotation of the load shaft,

„

Encoder Resolution

Encoder resolution can be checked with servomotor model designation.

Pn20E

Electronic Gear Ratio (Numerator)

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

1 to 1073741824 (2

30

)

4

After restart

Setup

Pn210

Electronic Gear Ratio (Denominator)

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

1 to 1073741824 (2

30

)

1

After restart

Setup

Position

Position

B

Pn20E Encoder

resolution

m

=

=

˜

A

Pn210

Travel distance per load shaft rotation

(reference unit)

Electronic gear ratio

n

Electronic gear ratio setting range: 0.001

Electronic gear ratio (B/A)

4000

If the electronic gear ratio is outside this range, a parameter setting error (A.040) will be
output.

SGM V



Symbol

Specification

Encoder Resolutions

Symbol

Specification

Encoder Resolutions

3 20-bit

absolute

1048576

D 20-bit

incremental

1048576

A 13-bit

incremental

8192

SGMPS



2 17-bit

absolute

131072

C 17-bit

incremental

131072

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