output torque will increase. It needs to use torque limit (P4-02, P4-03) and torque limit output signal
/CLT.
3. As the dimension of workpiece is larger than standard, offset pulse will remain in servo when the
symmetrical point is found. /CLR signal can clear the pulse. The servo motor running distance is
different from PLC pulse number. If it needs to know the actual distance, servo encoder feedback
/A+, /A-, /B+, /B- and AB phase count are needed.
4. The motion direction of A and B.
Signal and terminal
/COIN positioning finished signal: SO1
/CLT torque up to upper limit output: SO2
/CLR pulse offset clear input: SI1
Encoder feedback signal /A+, /A-, /B+, /B-
Calculate the electronic gear ratio
Step
Explanation
Ball screw
1
Confirm the mechanical specification
Ball screw pitch: 5mm
Reduction ratio: 40/1
2
Confirm the encoder pulse number
2500P/R
3
Decide the command unit
1 command unit: 0.001mm
4
Calculate the motion value of load
shaft rotate 1 circle
5mm/0.001mm = 5000
5
Calculate the electronic gear ratio
B
2500 4 40
80
A
5000
1
1
6
Set the user parameters
P0-13=80 P0-14=1
Parameter setting
Running mode: P0-01=6
Pulse command state: P0-10=2
Electronic gear ratio: P0-11=0 P0-12=0 P0-13=80 P0-14=1
Forward torque limit: P3-28=150
Reverse torque limit: P3-29=150
Positioning finished width: P5-00=7
/S-ON: P5-20=0010
/CLR: P5-34=0001
/COIN: P5-38=0001
/CLT: P5-42=0002
Debug
1. Initial debug
(a) Connect the cables correctly. Connect U, V, W, PE one-to-one, don’t cross them.
(b) open-loop test-running: power on, set F1-01=1, check if the motor can work normally. If yes, enter
F1-00. If not, check the cables.
(c) Jog test-running: enter F1-00. Press ENTER to enable the motor. Press INC for forward jog, press
DEC for reverse jog. Press STATUS/ESC to quit the jog running.
4 states when jogging:
State
Panel display
State
Panel display
Idle
Forward
run
P: pitch
P
1 rotation =
Command unit
P
Load shaft