CHAPTER 4 PARAMETER

 Forward/Reverse rotation

The servomotor rotates forward if it rotates counterclockwise (CCW:

figure on the right) when the output shaft is viewed from the front.

Clockwise rotation is reverse rotation.

Forward

rotation

PA1_05 Number of command input pulses per revolution

No.

Name

Setting range

Default

value

Change

Number of command 0: Electronic gear ( PA1_06/07) is enabled

05 input pulses per

64 to 1048576 [pluse]: Number of command

0

Power

4

revolution

input pulses per revolution is enabled.

This parameter is enabled only under position control.

Enter the number of command pulses necessary to rotate the servomotor a full turn.

The setting range is 64 to 1048576 pulses. However, if the end of the model number of the servomotor

is "HB2" (18-bit encoder), the maximum value is 262144 pulses.

With the default value ("0"), the settings of PA1_06 and _07 (electronic gear numerator and

denominator) are enabled.

PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of electronic gear

No.

Name

Setting range

Default

value

Change

06 Numerator 0 of electronic gear 1 to 4194304

16 Always

07 Denominator of electronic gear 1 to 4194304

1

Always

These parameters are enabled only under position control.

With these parameters, the traveling amount of the mechanical system per each command pulse is

adjusted to a unit amount.

If parameter PA1_05 is "0," the settings of these parameters are enabled.

The following equation is used to calculate.

 Equation of numerator 0 of electronic gear and denominator of electronic gear

Cancel down so that numerator 0 divided by the denominator of the electronic gear is an integer

(4194304 or less).

(Traveling amount of mechanical system per servomotor revolution) Numerator 0 of electronic gear

×

= (Unit amount) *

Number of encoder pulses *

Denominator of electronic gear

* The unit amount is the machine travel amount to one command pulse. Its unit is [unit].(mm/pulse.

degree/pulse = [unit])

* The number of encoder pulses is 262144 for an 18-bit encoder or 1048576 for a 20-bit encoder.

Numerator 0 of electronic gear

=

Number of encoder pulses

× (Unit amount)

Denominator of electronic gear

(Traveling amount of mechanical system per servomotor revolution)

4-12 Basic Parameters