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Multiplier 2 and Multiplier 4 provide double and quadruple resolutions of the
encoder for the motor, respectively. If an encoder with a resolution of 1,000
pulses/revolution is connected to a motor, the encoder controls minimum mo-
tor rotation units in 1/2,000 revolution increments for Multiplier 2 and in
1/4,000 revolution increments for Multiplier 4. The respective precisions dou-
ble and quadruple, but speeds drop respectively to 1/2 and 1/4.
Feedback pulses
from the encoder
Feedback pulses
from the encoder
Pulses
with
direction
determined
by PCU
Multiplier 2
Phase (A)
Phase (B)
Feedback
pulses
(CW direction)
Pulses
with
direction
determined
by PCU
Multiplier 4
Phase (A)
Phase (B)
Feedback
pulses
(CW direction)
With Multiplier 2, feedback pulses are generated at the leading edge of
Phase A when Phase B is low and at the trailing edge of Phase A when
Phase B is high. With Multiplier 4, feedback pulses are generated in addition
at the leading edge of Phase B when Phase A is high and at the trailing edge
of Phase B when Phase A is low.
Caution
Change the multiplier parameter immediately after power ON or origin search.
Changing it at other times may cause the motor to move to its new “current posi-
tion” at high speed based on the new multiplier.
Designates the voltage output per pulse. The servo system gain is normally
adjusted with the variable resistor on the servomotor driver. This gain setting
is used only as a supplement to the resistor adjustment.
1 Word
1 Word
Unit: 10
m
V/pulse
Range: 1 to 999
(Default: 200)
Gain
Address
1
Error counter value read
0: Not read (default)
1: Read
If the gain is too low, it will reduce the responsiveness of the motor and the
motor will not be able to achieve the desired acceleration. If the gain is too
high, vibration or other irregularities will result.
Gain and Error Counter
Value Read (X axis: 404,
Y axis: 804)
Note
Setting Parameters
Section 3-3