Sharp CP-SR421 Instrukcja Użytkownika Pobierz pdf (Strona 347)

16. FULLY CLOSED LOOP SYSTEM (available in the future)

16 - 10

(3) Setting of feedback pulse electronic gear

POINT

If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr.

PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal

operation may occur. Also, it may cause [AL. 42.1 Servo control error by position

deviation] during the positioning operation.

The numerator ([Pr. PE04] and [Pr. PE34]) and denominator ([Pr. PE05] and [Pr. PE35]) of the electronic

gear are set to the servo motor-side encoder pulse. Set the electronic gear so that the number of servo

motor encoder pulses per servo motor revolution is converted to the number of load-side encoder

pulses. The relational expression is shown below.

[Pr.PE04] × [Pr.PE34]

[Pr.PE05] × [Pr.PE35]

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ࠨ࡯ࡏࡕ࡯࠲1࿁ォ޽ߚࠅߩࠨ࡯ࡏࡕ࡯࠲ࠛࡦࠦ࡯࠳ࡄ࡞ࠬᢙ

Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution

is within the following range.

4096(2

)  Number of load-side encoder pulses per servo motor revolution  67108864 (2

)

(a) When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0.05

ȝm

Conditions

Servo motor resolution: 4194304 pulses/rev

Servo motor reduction ratio: 1/11

Ball screw lead: 20 mm

Linear encoder resolution: 0.05 μm

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࠹࡯ࡉ࡞

࡝࠾ࠕࠛࡦࠦ࡯࠳

࡝࠾ࠕࠛࡦࠦ࡯࠳ࡋ࠶࠼

Calculate the number of linear encoder pulses per ball screw revolution.

Number of linear encoder pulses per ball screw revolution

= Ball screw lead/linear encoder resolution

= 20 mm/0.05 μm = 400000 pulses

1) [Pr.PE04] × 2) [Pr.PE34]

3) [Pr.PE05] × 4) [Pr.PE35]

400000

4194304

1) 3125

3) 32768

2) 1

4) 11

××

Number of motor encoder pulses per servo motor revolution

Number of load side encoder pulses per servo motor revolution

Linear encoder

Linear encoder head

Table

Geared servo motor

1 2 ... 342 343 344 345 346 347 348 349 350 351 352 ... 403 404

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