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ASDA-A3

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Control Mode

6.7.4.2 Auxiliary encoder resolution setting

P1.072

Address: 0190H

Resolution of auxiliary encoder for full-closed loop control

0191H

Default: 5000

Control mode: PT / PR* (full-closed loop)

Unit: pulse/rev

Setting range: 200 - 1280000

Format: DEC

Data size: 32-bit

Settings:

The number of A/B pulses corresponding to a full-closed loop when the motor runs a cycle (after

quadruple frequency).

Note: PR full-closed loop function is not yet supported.

There are two methods for calculating the corresponding pulse number of the auxiliary encoder

per motor revolution. One method calculates the theoretical value from the physical quantity.

The other calculates the actual value with the Scope function of ASDA-Soft. If the resolution of

auxiliary encoder for full-closed loop control (P1.072) is incorrectly set, the position error

between the auxiliary encoder feedback and the motor encoder accumulates during long-term

operation, triggering AL040.

1. Calculating the theoretical value

If the machine using screw transmission forms a full-closed loop control system with the

auxiliary encoder, the screw pitch and resolution of the auxiliary encoder are required for

calculating the corresponding pulse number of the auxiliary encoder per motor revolution.

When the specifications of the screw and auxiliary encoder are known, you can calculate

the value of P1.072.

Example:

If the screw pitch is 5 mm and the resolution of the linear scale (auxiliary encoder) is 0.5 µm,

the calculation is as follows.

5 mm 5000 μm

0.5 μm = 0.5 μm = 10000 pulse = P1.072

When the motor runs a cycle, the linear scale requires to receive 10,000 pulses.

6

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