User Manual Of EL7-EC** AC Servo
165
Method 1:
Electronic gear ratio setting is defined by 608Fh (Position encoder resolution). 6091h
(Gear ratio), 6092h (Feed constant) to change the motor position. Only valid under
pre-operational mode.
608Fh (Position encoder resolution) is the resolution of the encoder, which is read
internally without additional setting. 6092h_01 represents the number of pulses that can
be set for each revolution of the motor. 6091h_01/6091h_02 is real-time update effective.
Electronic gear subdivision method can be determined by modifying 6092h_01 (Feed
constant)
1. If 6092h_01 (Feed constant) is not equal to 608Fh (Position Encoder resolution), then:
Electronic gear ratio = encoder resolution / 6092h_01
2. If 6092h_01(Feed constant) is equal to 608Fh(Position encoder resolution), then:
Electronic gear ratio = 6091_01/6092h_01
Electronic gear ratio range is 0.001~8000(23 bit encoder), 0.001~125(17 bit encoder)
Command pulse count per motor revolution needs to be
≥
Encoder Pulse Count per
Revolution / 8000.
EL7 series comes with motors with 17-bit and 23-bit encoder. Pulse count per revolution
for 17-bit encoder = 131072; for 23-bit encoder = 8388608. From the condition above, the
command pulse count per motor revolution for 17-bit encoder should be
≥
17; for 23-bit
encoder
≥
1049.
Method 2:
Electronic gear can be set through Pr0.08. If Pr0.08
≠
0, Pr0.08 is valid. If Pr0.08 = 0,
object dictionary 6092-01 is valid.
Note:
when the setting value exceeds this range, the error will be reported and
automatically reset to the default value. The default values of 6091_01, 6091_02 and
6092_01 are 1, 1 and 10000.
5.4.6 Position Limits
The hardware limit is valid in all operational modes, and the software limit is valid only
in the absolute operational mode of cyclic synchronous position mode (CSP) and profile
position mode (PP)
The limit of the software is defined by 607Dh. The maximum position in the negative
direction is defined in 607d-01h and the maximum position in the positive direction is
defined in 607d-02h, the unit is consistent with the command unit.
