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Panasonic A6 servo driver external absolute value grating ruler full closed loop parameter setting

2022-07-19 13:04:00 【blueman8888】

Hardware parameters ：

Screw pitch ：5mm

Reducer ：1：12

The resolution of grating ruler is 0.01um, Long light grating ruler

The drive parameters are set to ：

Pr0.01 Set to 6, Full closed loop control

Others can use the default value ,

Grating ruler type ：Pr3.23 Set to 2

Grating ruler frequency divider ： Pr3.24

Grating ruler frequency divider ：Pr3.25

Calculate according to the formula shown in the figure ：

Because the single circle resolution calculation is not an integer , This can be done by

1. The number of pulses of the grating ruler in one pitch is 5000/0.01=500000plus

2. The number of pulses converted to a single cycle of the motor is 500000/12=41,666.666666666666666666666666667

A number that cannot be divided by close . At this time, the numerator and denominator can be simultaneously *12 that will do .

$\frac{Pr3.24}{Pr3.25}= \frac{2^{23}}{\frac{500000}{12}}=\frac{12*2^{18}}{15625}= \frac{3145728}{15625}$

It needs to be connected with Pr0.11 Every rotation of motor 1 Number of output pulses per cycle , Make a distinction .Pr0.11 This parameter is the output pulse resolution of the motor . and Pr3.24 It refers to taking the resolution of the actual motor encoder as the reference value , Molecules that meet the proportional relationship required by the picture , When the driver reports 25.0 When it's wrong , Not the direction of the external grating ruler Pr3.26 In the wrong , This proportional relationship is not set correctly .

Personal understanding ： Pr3.24/Pr3.25 Determines the proportional relationship between the motor encoder and the actual grating ruler . This is at the hardware level , Cannot be changed ,Pr0.11 Is the software level , According to the actual host computer or PLC To adjust the receiving frequency of the encoder port . adopt Pr0.11/Pr5.03 The output pulse number of the driver can be adjusted to control the pulse output frequency to the upper computer .

When fully closed loop , And Pr5.03=0 when , This parameter will be invalid , The output pulse resolution is subject to the actual output of the external grating ruler .