8.

6 Operating Using Position Control

8.6 Operating Using Position Control

8.6.1 Setting Parameters
Set the following parameters for position control using pulse trains.
(1) Control Mode Selection
Parameter Meaning
Pn000 n.††1† Control mode selection: Position control (pulse train reference)

(2) Setting a Reference Pulse Form

Type Signal Connector Name
Name Pin Number
Input PULS CN1-7 Reference Pulse Input
/PULS CN1-8 Reference Pulse Input
SIGN CN1-11 Reference Code Input
/SIGN CN1-12 Reference Code Input
Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.
Parameter Reference Pulse Input Forward Rotation Reverse Rotation
Form Pulse Reference Reference
Multiplier
Pn200 n.†††0 Sign + pulse train −
PULS PULS
(Positive logic) (CN1-7) (CN1-7)

(Factory setting) SIGN H SIGN

L
(CN1-11) (CN1-11)

n.†††1 CW pulse + CCW − PULS

PULS
pulse (CN1-7) L (CN1-7)
SIGN SIGN
(Positive logic) (CN1-11) (CN1-11)
L

n.†††2 Two-phase pulse ×1 90° 90°

train with 90° phase ×2 PULS PULS
n.†††3 (CN1-7) (CN1-7)
differential
n.†††4 (Positive logic) ×4 SIGN
(CN1-11)
SIGN
(CN1-11)

n.†††5 Sign + pulse train − PULS PULS

(Negative logic) (CN1-7) (CN1-7)
SIGN L SIGN
H
(CN1-11) (CN1-11)

n.†††6 CW pulse + CCW − PULS PULS

pulse (CN1-7) H (CN1-7)
SIGN SIGN
(Negative logic) (CN1-11) (CN1-11)
H

n.†††7 Two-phase pulse ×1 90 90

train with 90° phase ×2 PULS PULS
n.†††8 (CN1-7) (CN1-7)
differential
Operation

n.†††9 (Negative logic) ×4 SIGN

(CN1-11)
SIGN
(CN1-11)

The input pulse multiplier can be set for the

Forward rotation Reverse rotation
2-phase pulse train with 90° phase differen-
tial reference pulse form. PULS
(CN1-7)
SIGN
8
(CN1-11)
×1
Internal Motor movement
×2 reference pulses
processing
×4

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 8 Operation
8.6.1 Setting Parameters

(3) Clear Signal Form Selection

Type Signal Connector Name
Name Pin Number
Input CLR CN1-15 Clear Input
/CLR CN1-14 Clear Input
The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter
Pn200.1. Select according to the specifications of the machine or host controller.
Parameter Description Timing
Pn200 n.††0† Clears at high level. Clears at
CLR
Position error pulses do not accumulate while the (CN1-15) high level
signal is at high level.
(Factory setting)
n.††1† Clears at the rising edge.
CLR High
(CN1-15)
Clears here just once.

n.††2† Clears at low level. CLR

Position error pulses do not accumulate while the (CN1-15) Clears at low level
signal is at low level.

n.††3† Clears at the falling edge.

CLR Low
(CN1-15)

Clears here just once.

The following are executed when the clear operation is enabled.
• The SERVOPACK error counter is set to 0.
• Position loop operation is disabled.
→ Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to drift
in the speed loop.

If the clear signal (CLR) is not wired and Pn200 is set to n.††2†, the position-error pulse is always cleared.
So, if a pulse-train reference is input, the servomotor will not operate.

(4) Clear Operation Selection

This parameter determines when the error pulse should be cleared according to the condition of the SERVO-
PACK, in addition to the clearing operation of the clear signal (CLR). Either of three clearing modes can be
selected with Pn200.2
Parameter Description
Pn200 n.†0†† Clear the error pulse at the CLR signal input during the baseblock. (Factory setting)
“During the baseblock” means when the SVON signal or the main circuit power supply is
OFF, or an alarm occurs.
n.†1†† Do not clear the error pulse. Clear only with the CLR signal.
n.†2†† Clear the error pulse when an alarm occurs or the CLR signal is input.

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 8.6 Operating Using Position Control

8.6.2 Setting the Electronic Gear

(1) Number of Encoder Pulses
SGMH- (Servomotor model)

Motor Model
Encoder Specifications Encoder Type No. of Encoder Pulses

A 13 bits 2048
B Incremental 16 bits 16384
encoder
C 17 bits 32768
1 Absolute 16 bits 16384
2 encoder 17 bits 32768

Note: For details on reading servomotor model numbers, refer to 2.1 Servomotor Model Designations.

The number of bits representing the resolution of the applicable encoder is not the same as the number of encoder signal
INFO
pulses (phases A and B). The number of bits representing the resolution is equal to the number of encoder pulses × 4 (mul-
tiplier).

(2) Electronic Gear

The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be
set to any value. One reference pulse from the host controller, i.e., the minimum position data unit, is called a ref-
erence unit.
When the Electronic Gear When the Electronic Gear Is Used
Is Not Used Workpiece Workpiece
Reference unit:
: 1 μm

No. of encoder pulses: 2048

Ball screw pitch: 6 mm No. of encoder pulses: 2048
Ball screw pitch: 6 mm

To move a workpiece 10 mm: To move a workpiece 10 mm using reference units:

1 revolution is 6 mm. Therefore, The reference unit is 1 μm. Therefore,
10 ÷ 6 = 1.6666 revolutions To move the workpiece 10 mm (10000 μm),
2048 × 4 pulses is 1 revolution. Therefore, 1 pulse = 1 μm, so
1.6666 × 2048 × 4 = 13653 pulses 10000/1=10000 pulses.
13653 pulses are input as reference pulses. Input 10000 pulses per 10 mm of workpiece
The equation must be calculated at the movement.
host controller.

Operation

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 8 Operation
8.6.2 Setting the Electronic Gear

(3) Related Parameters

Pn202 Electronic Gear Ratio (Numerator) Position

Setting Range Setting Unit Factory Setting Setting Validation

1 to 65535 − 4 After restart
Pn203 Electronic Gear Ratio (Denominator) Position

Setting Range Setting Unit Factory Setting Setting Validation

1 to 65535 − 1 After restart
If the deceleration ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor and
n is the rotation of the load shaft,
B Pn202 No. of encoder pulses × 4 m
Electronic gear ratio: = = ×
A Pn203 Travel distance per load n
shaft revolution (reference units)

* If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range. Be careful not to change the electronic gear ratio (B/A).
„ IMPORTANT
Electronic gear ratio setting range: 0.01 ≤ Electronic gear ratio (B/A) ≤ 100
If the electronic gear ratio is outside this range, the SERVOPACK will not operate properly. In this case, modify the load
configuration or reference unit.

(4) Procedure for Setting the Electronic Gear Ratio

Use the following procedure to set the electronic gear ratio.
Step Operation Description
1 Check machine specifications. Check the deceleration ratio, ball screw pitch, and pulley diameter.
2 Check the number of encoder pulses. Check the number of encoder pulses for the servomotor used.
3 Determine the reference unit used. Determine the reference unit from the host controller, considering the
machine specifications and positioning accuracy.
4 Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load
revolution. shaft one revolution based on the previously determined reference
units.
5 Calculate the electronic gear ratio. Use the electronic gear ratio equation to calculate the ratio (B/A).
6 Set parameters. Set parameters using the calculated values.

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 8.6 Operating Using Position Control

(5) Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.
Step Operation Load Configuration
Ball Screw Disc Table Belt and Pulley
Reference unit: 0.001 mm Reference unit: 0.1° Reference Unit: 0.02 mm
Load shaft Load shaft
Deceleration
ratio: Deceleration
13-bit encoder Ball screw 3:1 ratio
Pully diameter:
pitch: 6 mm Load shaft 2:1
13-bit encoder 100 mm
16-bit encoder
1 Check machine x Ball screw pitch: 6 mm Rotation angle per revolution: Pulley diameter: 100 mm
specifications. x Deceleration ratio: 1/1 360° (pulley circumference: 314 mm)
Deceleration ratio: 3/1 x Deceleration ratio: 2/1
2 Check the number 13-bit: 2048 P/R 13-bit: 2048 P/R 16-bit: 16384 P/R
of encoder pulses.
3 Determine the ref- 1 Reference unit: 0.001 mm 1 Reference unit: 0.1° 1 Reference unit: 0.02 mm
erence unit used. (1 μm)
4 Calculate the travel 6 mm/0.001 mm=6000 360°/0.1°=3600 314 mm/0.02 mm=15700
distance per load
shaft revolution.
5 Calculate the elec- B 2048 × 4 1 B 2048 × 4 3 B 16384 × 4 2
tronic gear ratio. = × = × = ×
A 6000 1 A 3600 1 A 15700 1
6 Set parameters. Pn202 8192 Pn202 24576 Pn202 131072∗
Pn203 6000 Pn203 3600 Pn203 15700
Reduce the fraction (both numerator and denominator) since the calculated result will not be within the setting
range. For example, reduce the numerator and denominator by four to obtain Pn202=32768, Pn203=3925 and
complete the settings.

(6) Electronic Gear Ratio Equation

Servomotor
n
Reference pulse + Pitch = P (mm/rev)
B Position Speed
loop loop
A -
Δ (mm/P) m

×4
Δ (mm/P): Reference unit PG (P/rev)
PG (P/rev): Encoder pulses
P (mm/rev): Ball screw pitch
m : Deceleration ratio
Operation

n
n×P ( B )
× = 4 × PG × m
Δ A
Set A and B with the following parameters.
4 × PG × m × Δ 4 × PG m
( B )= = × A 㧦Pn203 B 㧦Pn202
A n×P P n
Δ 8

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