Yaskawa Sigma II Indexer User Manual download pdf (Page 84)

Sigma II Indexer User’s Manual Setting up the Reference Units

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5.5 Setting up the Reference Units

The Sigma II Indexer stores all positioning data in units of [Reference Units].

Reference units allow the user to program in terms of load (or workpiece) travel dis-

tance instead of servomotor travel distance.

Setting the Reference Units

Set the reference units by calculating the electronic gear ratio (B/A) using the fol-

lowing procedure, and set the values in parameters Pn202 and 203.

1. Check equipment specifications related to the reference units:

• Speed Reduction Ratio, N

= rotation of the load shaft

= rotation of the motor

• Ball screw pitch

• Pulley diameter

2. Check the number of encoder pulses for the SGMH servomotor.

Note: The number of bits representing the resolution of the applicable encoder is not the same as the num-

ber of encoder signal pulses (A and B phase) output from the servo amplifier.

Servomotor Model and

Encoder Specifications

Encoder Type

Number of Encoder Pulses Per Revo-

lution (p/rev) (“pre-quadrature”)

Incremental encoder

13–bit 2048

B 16–bit 16384

C 17–bit 32768

Absolute encoder

16–bit 16384

2 17–bit 32768

Reference unit: 1Pm

To move a workpiece 0.39in. (10mm):

1 revolution = 6mm. Therefore,

10 ÷ 6 = 1.6667 revolutions.

(2048 u 4) pulses = 1 revolution. So,

(1.6667 u 2048 u 4) = 13653 pulses

13563 pulses are input as the reference.

To move a workpiece 0.39in. (10mm):

units must be defined in the servo

Equipment conditions and reference

units

10mm

1Pm

10000 reference

Reference unit is 1Pm. Therefore,

amplifier beforehand.

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