Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 295)

8.3 Parameter Settings for Fully-closed Loop Control
8-21
8
Fu
lly-close
d L
oop
Co
ntro
l
8.3.5 Electronic Gear
Refer to 4.4.3 Electronic Gear for the purpose of setting the electronic gear.
The following formula is used to calculate the electronic gear ratio in fully-closed loop control.
Note: Set Pn20E (numerator B) and Pn210 (denominator A) to integral values.
The setting range is defined by 0.001 ≤ ≤ 4000.
The following table shows the various external encoder sin wave pitches and the number of divisions.
„ External Encoder Sine Wave Pitch and Number of Divisions
Calculate the electronic gear ratio with the values in the following table.
∗1. Models for serial converter units.
∗2. When using the encoder pulse output with these external encoders, the setting range of Pn281 is restricted. For
details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO).
∗3. Model for sensor head with interpolator.
∗4. Model for interface unit by Heidenhain.
∗5. For details on this external encoder, contact Mitutoyo.
∗6. Model for rotational external encoder.
Refer to the manuals for the external encoder and serial converter unit for details on the sine wave pitch and
the number of divisions of the external encoder.
A
B
Pn210
Pn20E
External encoder sine wave pitch
Travel distance per reference unit × Number of divisions
Electronic gear ratio == =
Rotation
B
A
Type of
External
Encoder
Manufacturer
External Encoder
Model
Sine Wave
Pitch [ μm]
Model of Relay
Device between
SERVOPACK and
External Encoder
Number
of
Divisions
Resolution
Incremental
Heidenhain
LIDA48 20 JZDP-D003- -E
∗1 256 0.078 μm
LIDA18 40 JZDP-D003- -E ∗1 256 0.156 μm
LIF48 4 JZDP-D003- -E
∗1 256 0.016 μm
Renishaw plc RGH22B 20 JZDP-D005- -E
∗1 256 0.078 μm
Magnescale Co., Ltd.
SR75- LF *2 80 – 8192 0.0098 μm
SR75- MF 80 – 1024 0.078 μm
SR85- LF *2 80 – 8192 0.0098 μm
SR85- MF 80 – 1024 0.078 μm
SL700 *2
， SL710 *2
，
SL720 *2 ， SL730 *2
800 PL101-RY *3 8192 0.0977 μm
Absolute
Heidenhain LIC4100 20.48 EIB3391Y *4 4096 0.005 μm
Mitutoyo Corporation
ST781A/ST781AL 256 – 512 0.5 μm
ST782A/ST782AL 256 – 512 0.5 μm
ST783/ST783AL 51.2 – 512 0.1 μm
ST784/ST784AL 51.2 – 512 0.1 μm
ST788A/ST788AL 51.2 – 512 0.1 μm
ST789A/ST789AL *5 25.6 – 512 0.05 μm
Magnescale Co., Ltd.
SR77- LF *2 80 – 8192 0.0098 μm
SR77- MF 80 – 1024 0.078 μm
SR87- LF *2 80 – 8192 0.0098 μm
SR87- MF 80 – 1024 0.078 μm
RU77-4096ADF *6 – – 256 20 bits
RU77-4096AFFT01 *6 – – 1024 22 bits